A method and device for obtaining world coordinates of tower crane hook and tower crane controller

Abstract

The embodiment of the present invention provides a method, device and tower crane controller for obtaining the world coordinates of a tower crane hook, the method comprising: taking the center point of the tower base ground as the origin A of the world coordinate system, and constructing a uniformly distributed two-dimensional dot matrix in the longitude and latitude space with it as the center; obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; obtaining the horizontal plane coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the four sides of the two-dimensional dot matrix on the tangent plane; obtaining the height coordinates of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinates. The embodiment of the present invention constructs a local world coordinate system according to the WGS-84 coordinates of the two-dimensional dot matrix in a local area (for example, within 2km), so as to automatically obtain the precise world coordinates of the tower crane hook using centimeter-level RTK coordinates.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control, and in particular to a method and device for obtaining world coordinates of a tower crane hook, and a tower crane controller. Background Art

[0002] In order for a tower crane to complete automatic driving, it is necessary to have the location information of the lifting point and the hook drop point. Generally, the location information of the lifting point and the hook drop point is obtained in longitude and latitude, but the location information expressed in longitude and latitude must be integrated with the tower crane coordinate system.

[0003] In the prior art, the WGS-84 coordinates of the lifting point and the hook drop point are first obtained according to their latitude and longitude, and the world coordinates of the lifting point and the hook drop point are directly obtained using the WGS-84 coordinates. In the fusion, it is not considered that the WGS-84 coordinates are not direct plane coordinates, and the fusion accuracy is poor. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a method, device and tower crane controller for obtaining the world coordinates of a tower crane hook, the method comprising: taking the center point of the tower base ground as the origin A of the world coordinate system, and constructing a uniformly distributed two-dimensional dot matrix in the longitude and latitude space with it as the center; obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; obtaining the horizontal plane coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the four sides of the two-dimensional dot matrix on the tangent plane; obtaining the height coordinates of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinates. The embodiment of the present invention constructs a local world coordinate system according to the WGS-84 coordinates of the two-dimensional dot matrix in a local area (for example, within 2km), so as to automatically obtain the accurate world coordinates of the tower crane hook using centimeter-level RTK coordinates.

[0005] In the first aspect, an embodiment of the present invention provides a method for obtaining the world coordinates of a tower crane hook, comprising: taking the center point of the tower base ground as the origin A of the world coordinate system, and constructing a uniformly distributed two-dimensional dot matrix in the longitude and latitude space with it as the center; obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; obtaining the horizontal plane coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane; obtaining the height coordinates of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinates.

[0006] From the above, the tangent plane of the world coordinate origin is constructed according to the WGS-84 coordinates of the two-dimensional dot matrix, which is similar to constructing a local world coordinate system in a local area (for example, within 2km) according to the WGS-84 coordinates of the two-dimensional dot matrix, so as to automatically obtain the precise world coordinates of any point in space using centimeter-level RTK coordinates.

[0007] In one embodiment of the first aspect, the method of obtaining the horizontal plane coordinates of the hook point G in the world coordinate system based on the projections of the hook point G, the origin A and the four midpoints of the two-dimensional dot matrix on the tangent plane includes: constructing projection directions from four directions from point a to the projection points of the four midpoints of the two-dimensional dot matrix on the tangent plane, point a being the projection point of the origin A on the tangent plane; projecting the vector ag1 to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A, to obtain the horizontal plane coordinates of the hook point G in the world coordinate system, wherein the vector ag1 starts from point a to the hook point G1, and the hook point G1 is the projection point of the hook point G on the tangent plane.

[0008] From the above, according to the projection of the vector connecting the projection point of any point in space on the tangent plane of the world coordinate origin and the projection point of the world coordinate origin on the tangent plane in the relevant projection direction, the coordinates of the point in space on the horizontal plane of the world coordinate system can be accurately obtained.

[0009] In one implementation of the first aspect, the X direction of the world coordinate is due north, and the vector ag1 is projected onto two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A to obtain the horizontal plane coordinates of the hook point G in the world coordinate system, including: when the longitude of the hook point G is greater than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 on the projection direction aq1, and the projection direction aq1 projects point q1 on the tangent plane from point a to the midpoint of the first side of the two-dimensional dot matrix, and the first side is a side parallel to the meridian direction and whose longitude is greater than the origin A; when the longitude of the hook point G is less than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 on the projection direction aq1. The symbol is the negative value of the projection of vector ag1 on the projection direction aq2, and the projection direction aq2 projects point q2 on the tangent plane from point a to the midpoint of the comparison of the first side in the two-dimensional dot matrix; when the latitude of the hook point G is greater than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the negative value of the projection of vector ag1 on the projection direction ap1, and the projection direction ap1 projects point p1 on the tangent plane from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix; when the latitude of the hook point G is less than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the projection value of vector ag1 on the projection direction ap2, and the projection direction ap2 projects point p2 on the tangent plane from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix.

[0010] From the above, by comparing the longitude and latitude of any point in space with the longitude and latitude of the origin of the world coordinate system, the positive and negative coordinates of the point in space on the horizontal plane of the world coordinate system can be accurately obtained.

[0011] In one implementation of the first aspect, obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface based on the WGS-84 coordinates of each point in the two-dimensional dot matrix specifically includes: obtaining the WGS-84 coordinates of each point in the two-dimensional dot matrix based on the longitude and latitude of each point in the two-dimensional dot matrix; obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface through data fitting based on the WGS-84 coordinates of each point in the two-dimensional dot matrix.

[0012] From the above, the two-dimensional point matrix obtained by data fitting and the tangent plane of the earth surface are more similar to a plane of a local rectangular coordinate system, which is used for the subsequent accurate calculation of the world coordinates.

[0013] In an implementation of the first aspect, a distance between adjacent points in the two-dimensional dot matrix is ​​less than a second set value.

[0014] As described above, by making the distance between adjacent points in the two-dimensional dot matrix smaller than the second set value, the tangent plane between the two-dimensional dot matrix and the earth's surface obtained based on the two-dimensional dot matrix is ​​more similar to a plane of a local rectangular coordinate system.

[0015] In an implementation of the first aspect, the length and width of the two-dimensional dot matrix are both twice the length of the tower crane arm.

[0016] From the above, by setting the length and width of the two-dimensional dot matrix to twice the length of the tower crane arm, the world coordinates of the tower crane hook can be accurately obtained.

[0017] In the second aspect, an embodiment of the present invention provides a device for obtaining the world coordinates of a tower crane hook, including: a dot matrix construction module, which is used to take the center point of the tower base ground as the origin A of the world coordinate system, and to construct a uniformly distributed two-dimensional dot matrix in the longitude and latitude space with it as the center; a tangent plane acquisition module, which is used to obtain the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; a coordinate acquisition module, which is used to obtain the horizontal plane coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane; the coordinate acquisition module is also used to obtain the height coordinate of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinates.

[0018] From the above, the tangent plane of the world coordinate origin is constructed according to the WGS-84 coordinates of the two-dimensional dot matrix, which is similar to constructing a local world coordinate system in a local area (for example, within 2km) according to the WGS-84 coordinates of the two-dimensional dot matrix, so as to automatically obtain the precise world coordinates of any point in space using centimeter-level RTK coordinates.

[0019] In one embodiment of the second aspect, the coordinate acquisition module is specifically used to include: constructing projection directions in four directions from point a to the projection points of the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane, point a being the projection point of the origin A on the tangent plane; projecting the vector ag1 to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A, and obtaining the horizontal plane coordinates of the hook point G in the world coordinate system, wherein the vector ag1 starts from point a to the hook point G1, and the hook point G1 is the projection point of the hook point G on the tangent plane.

[0020] From the above, according to the projection of the vector connecting the projection point of any point in space on the tangent plane of the world coordinate origin and the projection point of the world coordinate origin on the tangent plane in the relevant projection direction, the coordinates of the point in space on the horizontal plane of the world coordinate system can be accurately obtained.

[0021] In one implementation of the second aspect, the X direction of the world coordinate is due north, and the coordinate acquisition module projects the vector ag1 to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A, and obtains the horizontal plane coordinates of the hook point G in the world coordinate system. It is specifically used to include: when the longitude of the hook point G is greater than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 in the projection direction aq1, and the projection direction aq1 projects point q1 on the tangent plane from point a to the midpoint of the first side of the two-dimensional dot matrix, and the first side is a side parallel to the meridian direction and whose longitude is greater than the origin A; when the longitude of the hook point G is less than the longitude of the origin A, the hook point G in the world The Y coordinate of the coordinate system is the negative value of the projection of the vector ag1 on the projection direction aq2, and the projection direction aq2 projects point q2 on the tangent plane from point a to the midpoint of the comparison of the first side in the two-dimensional dot matrix; when the latitude of the hook point G is greater than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the negative value of the projection of the vector ag1 on the projection direction ap1, and the projection direction ap1 projects point p1 on the tangent plane from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix; when the latitude of the hook point G is less than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 on the projection direction ap2, and the projection direction ap2 projects point p2 on the tangent plane from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix.

[0022] From the above, by comparing the longitude and latitude of any point in space with the longitude and latitude of the origin of the world coordinate system, the positive and negative coordinates of the point in space on the horizontal plane of the world coordinate system can be accurately obtained.

[0023] In one embodiment of the second aspect, the tangent plane acquisition module is specifically used to: obtain the WGS-84 coordinates of each point in the two-dimensional dot matrix according to the longitude and latitude of each point in the two-dimensional dot matrix; and obtain the tangent plane between the two-dimensional dot matrix and the earth's surface through data fitting according to the WGS-84 coordinates of each point in the two-dimensional dot matrix.

[0024] From the above, the two-dimensional point matrix obtained by data fitting and the tangent plane of the earth surface are more similar to a plane of a local rectangular coordinate system, which is used for the subsequent accurate calculation of the world coordinates.

[0025] In an implementation of the second aspect, a distance between adjacent points in the two-dimensional dot matrix is ​​less than a second set value.

[0026] As described above, by making the distance between adjacent points in the two-dimensional dot matrix smaller than the second set value, the tangent plane between the two-dimensional dot matrix and the earth's surface obtained based on the two-dimensional dot matrix is ​​more similar to a plane of a local rectangular coordinate system.

[0027] In an implementation of the second aspect, the length and width of the two-dimensional dot matrix are both twice the length of the tower crane arm.

[0028] From the above, by setting the length and width of the two-dimensional dot matrix to twice the length of the tower crane arm, the world coordinates of the tower crane hook can be accurately obtained.

[0029] In a third aspect, an embodiment of the present invention provides a tower crane controller, comprising: an RTK coordinate acquisition module for obtaining the RTK coordinates of a hook; and a world coordinate acquisition module for obtaining the world coordinates of a tower crane hook using the hook RTK coordinates according to the method described in any embodiment of the first aspect.

[0030] In a fourth 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.

[0031] In a fifth 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

[0032] Figure 1 It is a flow chart of a first embodiment of a method for obtaining the world coordinates of a tower crane hook of the present invention;

[0033] Figure 2A It is a flow chart of a second embodiment of a method for obtaining the world coordinates of a tower crane hook;

[0034] Figure 2B This is a flow chart of a method for obtaining horizontal plane coordinates in a world coordinate system in this step of Embodiment 2 of a method for obtaining world coordinates of the present invention;

[0035] Figure 3 It is a structural schematic diagram of a first embodiment of a device for obtaining the world coordinates of a tower crane hook of the present invention;

[0036] Figure 4 It is a structural schematic diagram of a second embodiment of a device for obtaining the world coordinates of a tower crane hook of the present invention;

[0037] Figure 5 Schematic diagram of the structure of the computing device according to various embodiments of the present invention. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The embodiment of the present invention provides a method, device and tower crane controller for obtaining the world coordinates of a tower crane hook. The method includes: taking the center point of the tower base ground as the origin A of the world coordinate system, and constructing a uniformly distributed two-dimensional dot matrix in the longitude and latitude space with it as the center; obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; obtaining the horizontal plane coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the four sides of the two-dimensional dot matrix on the tangent plane; obtaining the height coordinates of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinates. The embodiment of the present invention constructs a local world coordinate system according to the WGS-84 coordinates of the two-dimensional dot matrix in a local area (for example, within 2km), so as to automatically obtain the accurate world coordinates of the tower crane hook using centimeter-level RTK coordinates.

[0043] Let's first combine Figures 1 to 2B Various method embodiments of the present invention are introduced.

[0044] The embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0045] First, combine with Figure 1 Various embodiments of a method for obtaining world coordinates of a tower crane hook of the present invention.

[0046] In a first embodiment of a method for obtaining the world coordinates of a tower crane hook, the center point of the tower base ground is taken as the origin A of the world coordinate system, and a tangent plane of the earth's surface is constructed with it as the center, so as to construct a local world coordinate system using the origin A and the tangent plane; the hook point G and the origin A are projected onto the tangent plane using the longitude and latitude in the RTK coordinates of the hook point G and the origin A, and the horizontal plane coordinates of the hook point G in the world coordinate system are obtained according to the projected position, and then the height coordinates of the hook point G in the world coordinate system are obtained according to the height coordinate difference between the hook point G and the origin A in the RTK coordinates, so as to obtain the world coordinates of the hook point G. This embodiment automatically obtains the precise world coordinates of the tower crane hook using centimeter-level RTK coordinates in a local area according to a local world coordinate system constructed.

[0047] Figure 1 The flowchart of a first embodiment of a method for obtaining the world coordinates of a tower crane hook is shown, including steps S110 to S140.

[0048] S110: Taking the center point of the tower base ground as the origin A of the world coordinate system, and constructing a two-dimensional dot matrix evenly distributed in the longitude and latitude space with it as the center.

[0049] The latitude and longitude space is the latitude and longitude space in the RTK coordinates. The positioning accuracy of the RTK coordinates is at the centimeter level. The points in the two-dimensional dot matrix are evenly distributed in the latitude and longitude space at equal intervals.

[0050] The world coordinates are generally Cartesian coordinates. For example, the Z direction of the world coordinate system is the height direction and it is a right-handed coordinate system.

[0051] In some embodiments, the range of the two-dimensional dot matrix is ​​the first set space, which is obtained according to the object whose world coordinates are to be obtained. For example, when obtaining the world coordinates of the tower crane hook, the length and width of the first set space are respectively twice the tower crane's luffing arm.

[0052] In some embodiments, the distance between adjacent points in the two-dimensional dot matrix is ​​less than a second set value. For example, the second set value is 1 meter.

[0053] S120: Obtain a tangent plane between the two-dimensional point array and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional point array.

[0054] In some embodiments, the WGS-84 coordinates of each point in the two-dimensional dot matrix are obtained according to the longitude and latitude in the RTK coordinates of each point in the two-dimensional dot matrix, and then the tangent plane between the two-dimensional dot matrix and the earth surface is obtained by data fitting. The tangent plane is parallel to the horizontal plane of the local world coordinate system in a local area (e.g., within 2km), and the horizontal coordinates of the world coordinates obtained subsequently are obtained using the plane.

[0055] In some embodiments, the data fitting is achieved by least squares or RANSAC method.

[0056] S130: Obtain the horizontal plane coordinates of the hook point G in the world coordinate system according to the projections of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane.

[0057] Among them, the hook point G is any point in the RTK space, the projection point on the tangent plane is point g1, the projection point of the origin A on the tangent plane is point a, and the vector ag1 starts from point a to point g1.

[0058] In some embodiments, the due north direction is the X direction of the world coordinate system, the due west direction is the Y direction of the world coordinate system, and the X direction and the Y direction constitute the horizontal plane of the world coordinate system; first obtain the WGS-84 coordinates of the projection points of point g1, point a and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane, and use the four directions from point a to the projection points of the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane as the projection directions; then project the vector ag1 to two directions in the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A, and obtain the horizontal plane coordinates of the hook point G in the world coordinate system. Wherein, the vector ag1 is located in the area bounded by two directions in the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees.

[0059] In some embodiments, according to the longitude and latitude of the hook point G and the origin A, the vector ag1 is projected to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees, and the horizontal plane coordinates of the hook point G in the world coordinate system are obtained, including:

[0060] When the longitude of the hook point G is greater than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 on the projection direction aq1, and the projection direction aq1 is from point a to the midpoint of the first side of the two-dimensional dot matrix to project point q1 on the tangent plane, and the first side is a side parallel to the meridian direction and has a longitude greater than the origin A;

[0061] When the longitude of the hook point G is less than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the negative value of the projection of the vector ag1 on the projection direction aq2, and the projection direction aq2 is from point a to the midpoint of the comparison of the first side in the two-dimensional dot matrix to the projection point q2 on the tangent plane;

[0062] When the latitude of the hook point G is greater than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the negative value of the projection of the vector ag1 on the projection direction ap1, and the projection direction ap1 is from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix to the projection point p1 on the tangent plane;

[0063] When the latitude of the hook point G is less than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 in the projection direction ap2, and the projection direction ap2 is from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix to project point p2 on the tangent plane.

[0064] S140: Obtain the height coordinate of the hook point G in the world coordinate system according to the height difference between the hook point G and the origin A in the RTK coordinate system.

[0065] The height coordinate of the hook point G in the world coordinate system is the difference between the height of the hook point G in the RTK coordinate and the height of the origin A in the RTK coordinate.

[0066] In summary, in Example 1 of a method for obtaining the world coordinates of a tower crane hook, a local world coordinate system is constructed in a local area (for example, within 2 km) according to the WGS-84 coordinates of the two-dimensional dot matrix, so that the precise world coordinates of the hook lifting point and the hook dropping point are obtained using centimeter-level RTK coordinates to achieve precise control of the hook.

[0067] A second embodiment of a method for obtaining the world coordinates of a tower crane hook inherits all methods of the first embodiment of a method for obtaining the world coordinates of a tower crane hook, has all the advantages of the first embodiment of a method for obtaining the world coordinates of a tower crane hook, and refines each step of the first embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0068] Figure 2A The flowchart of Embodiment 2 of a method for obtaining the world coordinates of a tower crane hook is shown, including steps S210 to S240.

[0069] S210: Taking the center of the tower base ground as the origin A of the world coordinate system, and constructing a two-dimensional dot matrix evenly distributed in the longitude and latitude space of the RTK coordinates with the origin A as the center.

[0070] Among them, this step refines the two-dimensional dot matrix based on step S110 of the first embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0071] Among them, the RTK coordinates of the origin A are (WE, SN, H), and n small quantities dw are added or subtracted from the longitude WE of the origin A, and m small quantities ds are added or subtracted from the latitude SN to form a two-dimensional dot matrix (WE±n*dw, SN±m*ds), where (n, m=1, 2, 3…100), 100 is an example value, and the same applies below. The values ​​of dw and ds satisfy that the distance between two adjacent points is less than 1 meter, and the longitude and latitude must consider the real geographical information. The following uses the geographical information of China as an example. The specific values ​​of dw and ds also satisfy that the distance from the origin A to (WE+100dw, SN) and (WE, SN+100ds) is the arm length of the tower crane's luffing arm.

[0072] Among them, the Z direction of the world coordinate system is the height direction, the due north direction is the X direction of the world coordinate system, and the due west direction is the Y direction of the world coordinate system. The X direction and the Y direction constitute the horizontal plane of the world coordinate system.

[0073] S220: According to the WGS-84 coordinates of each point in the two-dimensional dot matrix, a tangent plane D between the two-dimensional dot matrix and the earth's surface is obtained by least squares or RANSAC method.

[0074] S230: Obtain the horizontal plane coordinates of the hook point G in the world coordinate system according to the projections of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane D.

[0075] in, Figure 2B The flowchart of a method for obtaining horizontal plane coordinates in a world coordinate system of this step of Embodiment 2 of a method for obtaining world coordinates is shown, including steps S2310 to S2330.

[0076] S2310: Obtain the WGS-84 coordinates of the projection points of the hook point G, the origin A, and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane D.

[0077] Among them, the projection point of the origin A is point a, the WGS-84 coordinates of point a are (xa, ya, za), the RTK coordinates of the hook point G are (we, sn, h), and its projection point on the tangent plane D is point g1, and the WGS-84 coordinates of point g1 are (xg1, yg1, zg1).

[0078] Among them, the four sides of the two-dimensional dot matrix are the first side, the second side, the third side and the fourth side, the first side and the third side are parallel opposite sides, and the second side and the fourth side are parallel opposite sides. The first side is parallel to the longitude direction and the longitude is greater than the origin A, and the second side is parallel to the latitude direction and the latitude is greater than the origin A. The midpoints of the first side and the third side are Qn1 and Qn2 respectively, and the midpoints of the second side and the fourth side are Pm1 and Pm2 respectively.

[0079] Among them, the longitude and latitude of Qn1 is (WE+100dw, SN), the longitude and latitude of Qn2 is (WE-100dw, SN), the longitude and latitude of Pm1 is (WE, SN+100ds), the longitude and latitude of Pm2 is (WE, SN-100ds), and the projection points on the tangent plane D are qn1, qn2, pml and pm2. The coordinates on the tangent plane D are (xn1, yn1, zn1), (xn2, yn2, zn2), (xm1, ym1, zm1) and (xm2, ym2, zm2).

[0080] S2320: The four directions of the projection points from point a to the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane D are taken as projection directions.

[0081] Among them, the projection direction from point a to qn1 is vector aq1(xn1-xa,yn1-ya,zn1-za), and its unit vector is (aqx1,aqy1,aqz1).

[0082] Among them, the projection direction from point a to qn2 is vector aq2(xn2-xa,yn2-ya,zn2-za), and its unit vector is (aqx2,aqy2,aqz2).

[0083] Among them, the projection direction from point a to pm1 is vector ap1(xm1-xa, ym1-ya, zm1-za), and its unit vector is (apx1, apy1, apz1).

[0084] Among them, the projection direction from point a to pm2 is vector ap2(xm2-xa, ym2-ya, zm2-za), and its unit vector is (apx2, apy2, apz2).

[0085] S2330: According to the longitude and latitude of the hook point G and the origin A, the vector agl is projected to two directions among the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees, and the horizontal plane coordinates of the hook point G in the world coordinate system are obtained.

[0086] Among them, when we is greater than or equal to WE, the angle between vector agl and vector aq1 is less than or equal to 90 degrees. Vector ag1 is projected onto vector aq1, and its projection value is the dot product result Ly of vector ag1 and the unit vector of aq1. The Y coordinate of the hook point G in the world coordinate system is -Ly.

[0087] Among them, when we is less than WE, the angle between vector ag1 and vector aq2 is less than or equal to 90 degrees. Vector ag1 is projected onto vector aq2, and its projection value is the dot product result Ly of vector ag1 and the unit vector of aq2. The Y coordinate of the hook point G in the world coordinate system is Ly.

[0088] Among them, when sn is greater than or equal to SN, the angle between vector ag1 and vector ap1 is less than or equal to 90 degrees. Vector ag1 is projected onto vector ap1, and its projection value is the dot product result Lx of vector ag1 and the unit vector of ap1. The X-direction coordinate of the hook point G in the world coordinate system is Lx.

[0089] Among them, when sn is less than SN, the angle between vector ag1 and vector ap2 is less than or equal to 90 degrees. Vector ag1 is projected onto vector ap2, and its projection value is the dot product result Lx of vector ag1 and the unit vector of ap2. The X-direction coordinate of the hook point G in the world coordinate system is -Lx.

[0090] S240: Obtain the height coordinate of the hook point G in the world coordinate system according to the height difference between the hook point G and the origin A in the RTK coordinate system.

[0091] Among them, the height coordinate of the hook point G in the world coordinate system is hH.

[0092] Combine the following Figure 3 Embodiment 1 of a device for obtaining the world coordinates of a tower crane hook according to the present invention is introduced.

[0093] Embodiment 1 of a device for obtaining the world coordinates of a tower crane hook implements a method for obtaining the world coordinates of a tower crane hook, and the method described in Embodiment 1 has all its advantages.

[0094] Figure 3 The structure of a first embodiment of a device for obtaining world coordinates of a tower crane hook is shown, including a dot matrix construction module 310 , a cutting plane obtaining module 320 and a coordinate obtaining module 330 .

[0095] The dot matrix construction module 310 is used to construct a uniformly distributed two-dimensional dot matrix in the longitude and latitude space with the center point of the tower base as the origin A of the world coordinate system. For its working principle and advantages, please refer to step S110 of the first embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0096] The tangent plane acquisition module 320 is used to obtain the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix. For its working principle and advantages, please refer to step S120 of the first embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0097] The coordinate acquisition module 330 is used to obtain the horizontal coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane; and is also used to obtain the height coordinates of the hook point G in the world coordinate system according to the height difference between the hook point G and the origin A in the RTK coordinates. For its working principle and advantages, please refer to steps S130 and S140 of the first embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0098] Combine the following Figure 4 A second embodiment of a device for obtaining the world coordinates of a tower crane hook according to the present invention is introduced.

[0099] Embodiment 2 of a device for obtaining world coordinates of a tower crane hook implements a method for obtaining world coordinates in Embodiment 2, and has all the advantages thereof.

[0100] Figure 4 The structure of a second embodiment of a device for obtaining world coordinates of a tower crane hook is shown, including: a dot matrix construction module 410, a cutting plane obtaining module 420 and a coordinate obtaining module 430.

[0101] The dot matrix construction module 410 is used to take the center of the tower base ground as the origin A of the world coordinate system, and to construct a two-dimensional dot matrix with uniform distribution in the longitude and latitude space of the RTK coordinates with the origin A as the center. For its working principle and advantages, please refer to step S210 of the second embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0102] The tangent plane acquisition module 420 is used to obtain the tangent plane D between the two-dimensional dot matrix and the earth surface through the least squares or ransac method according to the WGS-84 coordinates of each point in the two-dimensional dot matrix. For its working principle and advantages, please refer to step S220 of the second embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0103] The coordinate acquisition module 430 is used to obtain the horizontal coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane D; and is also used to obtain the height coordinates of the hook point G in the world coordinate system according to the height difference between the hook point G and the origin A in the RTK coordinates. For its working principle and advantages, please refer to steps S230 and S240 of the second embodiment of a method for obtaining the world coordinates of a tower crane hook.

[0104] An embodiment of the present invention also provides a tower crane controller, including: an RTK coordinate acquisition module, used to obtain the RTK coordinates of the hook; a world coordinate acquisition module, which takes the center point of the tower base ground as the origin of the world coordinates, and obtains the world coordinates of the tower crane hook using the method described in Example 2 of a world coordinate acquisition method.

[0105] The embodiment of the present invention further provides a computing device, Figure 5 Detailed introduction.

[0106] The computing device 500 includes a processor 510 , a memory 520 , a communication interface 530 , and a bus 540 .

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] It should be understood that the computing device 500 according to an embodiment of the present invention can correspond to the corresponding subjects in 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. For the sake of brevity, they will not be repeated here.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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).

[0125] 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 obtaining the world coordinates of a tower crane hook, characterized in that: include: The center point of the tower base is taken as the origin A of the world coordinate system, and a two-dimensional dot matrix evenly distributed in the longitude and latitude space is constructed with it as the center; Obtaining a tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; Obtain the horizontal plane coordinates of the hook point G in the world coordinate system according to the projections of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane; Obtain the height coordinate of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinate system; Wherein, the obtaining of the horizontal plane coordinates of the hook point G in the world coordinate system according to the projection of the hook point G, the origin A and the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane includes: Construct projection directions from point a to the four directions of the projection points of the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane, point a is the projection point of the origin A on the tangent plane; according to the longitude and latitude of the hook point G and the origin A, project the vector ag1 to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees, and obtain the horizontal plane coordinates of the hook point G in the world coordinate system, wherein the vector ag1 starts from point a to point g1, and point g1 is the projection point of the hook point G on the tangent plane.

2. The method according to claim 1, characterized in that: The X direction of the world coordinate is due north. The vector ag1 is projected to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A, and the horizontal plane coordinates of the hook point G in the world coordinate system are obtained, including: When the longitude of the hook point G is greater than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 on the projection direction aq1, and the projection direction aq1 is the direction from point a to the projection point q1 of the midpoint of the first side of the two-dimensional dot matrix on the tangent plane, and the first side is a side parallel to the meridian direction and with a longitude greater than the origin A; When the longitude of the hook point G is less than the longitude of the origin A, the Y coordinate of the hook point G in the world coordinate system is the negative value of the projection of the vector ag1 on the projection direction aq2, and the projection direction aq2 is the direction from point a to the projection point q2 of the midpoint of the comparison of the first side in the two-dimensional dot matrix on the tangent plane; When the latitude of the hook point G is greater than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the negative value of the projection of the vector ag1 on the projection direction ap1, and the projection direction ap1 is the direction from point a to the projection point p1 of the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix on the tangent plane; When the latitude of the hook point G is less than the latitude of the origin A, the X coordinate of the hook point G in the world coordinate system is the projection value of the vector ag1 on the projection direction ap2, and the projection direction ap2 is the direction from point a to the midpoint of the left adjacent side of the first side in the two-dimensional dot matrix to project the point p2 on the tangent plane.

3. The method according to claim 1, characterized in that: The step of obtaining the tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix specifically includes: Obtaining WGS-84 coordinates of each point in the two-dimensional dot matrix according to the longitude and latitude of each point in the two-dimensional dot matrix; According to the WGS-84 coordinates of each point in the two-dimensional dot matrix, a tangent plane between the two-dimensional dot matrix and the earth's surface is obtained.

4. The method according to claim 1, characterized in that: The distance between adjacent points in the two-dimensional dot matrix is ​​smaller than a second set value.

5. The method according to claim 1, characterized in that: The length and width of the two-dimensional dot matrix are both twice the length of the tower crane arm.

6. A device for obtaining the world coordinates of a tower crane hook, characterized in that: include: The dot matrix construction module is used to construct a two-dimensional dot matrix with uniform distribution in the longitude and latitude space with the center point of the tower base as the origin A of the world coordinate system; A tangent plane obtaining module, used for obtaining a tangent plane between the two-dimensional dot matrix and the earth's surface according to the WGS-84 coordinates of each point in the two-dimensional dot matrix; A coordinate acquisition module, for obtaining the horizontal plane coordinates of the hook point G in the world coordinate system according to the projections of the hook point G, the origin A and the four midpoints of the two-dimensional dot matrix on the tangent plane, specifically comprising: constructing projection directions from point a to the four directions of the projection points of the midpoints of the four sides of the two-dimensional dot matrix on the tangent plane, point a being the projection point of the origin A on the tangent plane, projecting the vector ag1 to two directions of the four projection directions whose angles with the vector ag1 are less than or equal to 90 degrees according to the longitude and latitude of the hook point G and the origin A, and obtaining the horizontal plane coordinates of the hook point G in the world coordinate system, wherein the vector ag1 starts from point a to point g1, and point g1 is the projection point of the hook point G on the tangent plane; The coordinate acquisition module is also used to obtain the height coordinate of the hook point G in the world coordinate system according to the height coordinate difference between the hook point G and the origin A in the RTK coordinate system.

7. A tower crane controller, characterized in that: include: RTK coordinate acquisition module, used to obtain the RTK coordinates of the hook; A world coordinate acquisition module is used to obtain the world coordinates of the tower crane hook using the hook RTK coordinates according to any method described in claims 1 to 5.

8. 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.

9. 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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