Construction crane boom position information and motion trajectory precise acquisition method and system based on multi-sensor information

Abstract

The present application relates to a kind of construction crane boom position information and motion trajectory accurate acquisition method and system based on multi-sensor information.The system includes at least one Beidou high-precision positioning sensor, one accelerometer, one gyroscope, one magnetometer, one boom length detection device, one data processing module, the three-dimensional space position of the front end of construction crane boom is collected in real time by Beidou high-precision positioning sensor, the real-time position of the bottom of construction crane boom is collected by inertial navigation sensor, and all-around position information in the operation process of construction crane is obtained.The method includes installing Beidou high-precision positioning sensor, installing inertial navigation sensor, establishing the communication between sensor and data processing module, data acquisition and transmission and other steps, and the accurate acquisition of construction crane boom position information and motion trajectory is realized.The present application can reduce the configuration number of Beidou high-precision positioning sensor, effectively reduce cost in the case of realizing the same effect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of power grid transmission and transformation engineering, and particularly relates to a method and system for accurately acquiring position information and movement trajectory of a construction crane jib based on multi-sensor information. BACKGROUND

[0002] As the core business of power grid development, power grid construction is crucial for consolidating the foundation of safety production, deepening the investigation and treatment of hidden dangers, strengthening risk early warning and control, and improving the ability to resist accident risks and emergency disposal. As an important large-scale construction machinery, the crane plays a crucial role in the process of power transmission and transformation engineering construction. The safety risk of large-scale construction machinery operating near live wires or near structures is high, and it is difficult to control safety. The manual visual control method for safety distance has the inevitable drawback of error, and if an accident occurs, the loss is huge and the consequences are unpredictable. In order to effectively monitor the accurate position of large-scale construction machinery and its key components during the construction process, it is necessary to accurately acquire the position information and movement trajectory of the construction crane jib based on multi-sensor technology. SUMMARY

[0003] The purpose of the present application is to accurately acquire the position information and movement trajectory of the construction crane jib based on multi-sensor technology, and to provide a method and system for accurately acquiring the position information and movement trajectory of the construction crane jib based on multi-sensor information.

[0004] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows: a method and system for accurately acquiring the position information and movement trajectory of the construction crane jib based on multi-sensor information, comprising the following steps:

[0005] S1, installing sensors on the crane jib, including at least one Beidou high-precision positioning sensor, at least one accelerometer, at least one gyroscope, at least one magnetometer, and at least one jib length detection device;

[0006] S2, deploying a data processing module;

[0007] S3, acquiring data of the Beidou high-precision positioning sensor, the accelerometer, the gyroscope, the magnetometer, and the jib length detection device;

[0008] S4, estimating the position and attitude of the crane jib through data fusion of the Beidou high-precision positioning sensor, the accelerometer, the gyroscope, the magnetometer, and the jib length detection device.

[0009] In an embodiment of the present application, in step S1, the Beidou high-precision positioning sensor, the accelerometer, the gyroscope, and the magnetometer are all installed at the bottom center position of the crane jib, for accurately measuring the translation and rotation data of the bottom center of the jib axis; the jib length detection device is used to measure the length of the jib.

[0010] In an embodiment of the present application, in step S2, a data processing module is deployed on site to receive data from each sensor, calculate the position information of the crane boom, and record the position data of the crane boom at each time point to form the movement trajectory of the crane boom.

[0011] In an embodiment of the present application, in step S3, the length of the boom is measured by a boom length detection device; the spatial position of the bottom center of the crane boom axis (B, L, H) is measured by a Beidou high-precision positioning sensor; and the angle of rotation of the boom around the origin, i.e., the bottom center of the crane boom axis, is measured by an accelerometer, a gyroscope, and a magnetometer.

[0012] In an embodiment of the present application, in step S4, the position and attitude of the crane boom are estimated by data fusion of the Beidou high-precision positioning sensor, the accelerometer, the gyroscope, and the magnetometer; the spatial position of the bottom center of the crane boom axis (B, L, H) is measured by the Beidou high-precision positioning sensor, and the latitude and longitude are converted into the coordinates (x1, y1, z1) of the engineering self-defined coordinate system based on coordinate conversion, so as to depict the outer contour of the crane based on the known spatial three-dimensional shape of the crane body and obtain the accurate position of the crane body; the angle of rotation of the boom around the origin, i.e., the bottom center of the crane boom axis, is measured by the accelerometer, the gyroscope, and the magnetometer; and based on the known length L of the boom, the spatial position (x2, y2, z2) of the top center of the crane boom axis is obtained based on the rigid body motion equation.

[0013] In an embodiment of the present application, since the Beidou high-precision positioning sensor is installed at the spatial position of the bottom center of the crane boom axis, the position of the crane is represented by the position information of the Beidou high-precision positioning sensor, and (B, L, H) is converted into the coordinates (x1, y1, z1) of the engineering self-defined coordinate system, and the specific method is as follows:

[0014] x1=x0+N·(L-L0)·cosB

[0015]

[0016] z1=H

[0017] In the formula, e is the first eccentricity of the ellipsoid, N is the curvature radius of the prime vertical circle, M is the arc length of the meridian, B is the latitude, L is the longitude, H is the height, L0 is the longitude of the central meridian, x0 and y0 are the origin coordinates of the Gauss projection coordinate system, and... represents the high-order term.

[0018]

[0019] In the formula, a is the long semi-axis of the ellipsoid, and the position of the crane in the engineering self-defined coordinate system can be obtained by the above formula.

[0020] If the length of the boom measured by the boom length detection device is l at this time, then

[0021] The spatial position (x2, y2, z2) of the top center of the crane boom axis is calculated by the following formula:

[0022] x2=x1+l*cosγ*cos(φ-β)

[0023]

[0024] z2=z1+l*sinγ

[0025] In the formula, β is the angle between the Y axis of the engineering custom coordinate system and the true north direction, φ is the yaw angle, γ is the Euler angle of the pitch angle and the roll angle θ, and the specific calculation formula of the Euler angle is as follows:

[0026]

[0027]

[0028] In the formula, (α x ,α y ,α z ) is the measurement value of the accelerometer when the crane boom is in any attitude, is the measurement value of the magnetometer, Δφ is the magnetic declination between the true north and the magnetic north, and the roll angle θ of the crane boom is 0.

[0029] The application also provides a construction crane boom position information and motion trajectory accurate acquisition system based on multi-sensor information, which comprises at least one Beidou high-precision positioning sensor, at least one accelerometer, at least one gyroscope, at least one magnetometer, at least one boom length detection device, and at least one data processing module.

[0030] The Beidou high-precision positioning sensor calculates the spatial position of the bottom center of the crane boom axis by measuring the position information.

[0031] The accelerometer calculates the attitude of the crane boom by measuring the acceleration of the crane boom.

[0032] The gyroscope calculates the attitude of the crane boom by measuring the angular velocity of the crane boom when rotating.

[0033] The magnetometer calculates the attitude of the crane boom by measuring the earth's magnetic field strength.

[0034] The boom length detection device measures the length of the crane boom.

[0035] The data processing module gathers and stores the data collected by each sensor, and fuses to estimate the position and attitude of the crane boom.

[0036] Compared with the prior art, the application has the following beneficial effects: the application can reduce the number of Beidou high-precision positioning sensors, and effectively reduce the cost under the condition of achieving the same effect. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A schematic diagram of the principle of the method of the application is shown in the figure.

[0038] Figure 2 A step diagram of the method of the application is shown in the figure. DETAILED DESCRIPTION

[0039] The technical solutions of the application will be described in detail below with reference to the accompanying drawings.

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and explained below in combination with the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and should not be used to limit the present application. Based on the examples provided in the present application, all other examples obtained by those of ordinary skill in the art without making creative efforts fall within the scope of the present application.

[0041] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can also be applied to other similar scenarios without making creative efforts based on these drawings. In addition, it can be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacture or production changes based on the technical content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0042] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment that is not mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0043] Unless otherwise defined, technical terms and scientific terms used in the present application shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terms "a", "an", "one", "this", and similar referents in the context of describing the application are to be construed to be inclusive, not exclusive. For example, the use of the term "comprises" or "comprising" or "includes" or "including" or "has" or "having" or "contains" or "containing" or "consists" or "consisting" or "consists of" or "consisting of" to describe certain steps or modules (units) of the processes, methods, systems, products, or devices described herein is intended to mean that the processes, methods, systems, products, or devices can consist of, but are not limited to, the listed steps or modules (units), and can also include other steps or modules (units) not listed, or can also include other steps or modules (units) inherent to the processes, methods, systems, products, or devices. The terms "connected", "coupled", and similar terms in the context of the present application are not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect. The term "plurality" refers to two or more. The term "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects. The terms "first", "second", "third", and the like in the present application are only to distinguish similar objects, and do not represent a specific order for the objects.

[0044] The present application provides a construction crane boom position information and motion trajectory accurate acquisition method and system based on multi-sensor information, comprising the following steps:

[0045] S1, installing sensors on the crane boom, including at least one Beidou high-precision positioning sensor, at least one accelerometer, at least one gyroscope, at least one magnetometer, and at least one boom length detection device;

[0046] S2, deploying a data processing module;

[0047] S3, obtaining data of the Beidou high-precision positioning sensor, the accelerometer, the gyroscope, the magnetometer, and the boom length detection device;

[0048] S4, estimating the position and attitude of the crane boom through data fusion of the Beidou high-precision positioning sensor, the accelerometer, the gyroscope, the magnetometer, and the boom length detection device.

[0049] The present application also provides a construction crane boom position information and motion trajectory accurate acquisition system based on multi-sensor information, comprising at least one Beidou high-precision positioning sensor, at least one accelerometer, at least one gyroscope, at least one magnetometer, at least one boom length detection device, and at least one data processing module; wherein,

[0050] The Beidou high-precision positioning sensor calculates the spatial position of the bottom center of the crane boom axis by measuring position information.

[0051] The accelerometer calculates the attitude of the crane boom by measuring the acceleration of the crane boom.

[0052] The gyroscope calculates the attitude of the crane boom by measuring the angular velocity when the crane boom rotates.

[0053] The magnetometer calculates the attitude of the crane boom by measuring the strength of the earth's magnetic field.

[0054] The boom length detection device measures the length of the crane boom.

[0055] The data processing module aggregates and stores the data collected by each sensor, and fuses to estimate the position and attitude of the crane boom.

[0056] The following is a specific embodiment of the present application.

[0057] Embodiment:

[0058] Referring to Figure 1 and Figure 2 , the embodiment provides a construction crane boom position information and motion trajectory accurate acquisition method based on multi-sensor information, comprising the following steps:

[0059] S1, install sensors at key positions of the crane boom, including 1 Beidou high-precision positioning sensor, 1 accelerometer, 1 gyroscope, 1 magnetometer, and 1 boom length detection device.

[0060] S2, deploy a data processing module.

[0061] S3, obtain data of the boom length detection device, Beidou high-precision positioning sensor, accelerometer, gyroscope, magnetometer, and boom length detection device.

[0062] S4, estimate the position and attitude of the crane boom by fusing data of the Beidou high-precision positioning sensor, accelerometer, gyroscope, magnetometer, and boom length detection device.

[0063] Step S1: Install 1 Beidou high-precision positioning sensor, 1 accelerometer, 1 gyroscope, and 1 magnetometer at specific positions of the crane boom. The length of the boom is usually provided by the crane itself. The Beidou high-precision positioning sensor, accelerometer, gyroscope, and magnetometer are installed at the bottom center position of the crane boom, which is used to accurately measure the translation and rotation data of the bottom center of the boom axis. The boom length detection device is used to measure the length of the boom.

[0064] Step S2: On-site deployment of data processing module for receiving data from each sensor, calculating the position information of the crane boom, recording and storing the position data at each time point to form the movement trajectory of the crane and the boom.

[0065] Step S3: Measure the length l of the boom by the boom length detection device; measure the spatial position (B, L, H) of the bottom center of the crane boom axis by the Beidou high-precision positioning sensor; measure the angle of rotation of the boom around the origin (the bottom center of the crane boom axis) by the accelerometer, gyroscope, and magnetometer.

[0066] Step S4: Estimate the position and attitude of the crane boom by data fusion of the Beidou high-precision positioning sensor, accelerometer, gyroscope, and magnetometer. Measure the spatial position (B, L, H) of the bottom center of the crane boom axis by the Beidou high-precision positioning sensor, convert the latitude and longitude to the coordinates (x1, y1, z1) of the engineering self-defined coordinate system based on coordinate conversion, and based on the known spatial three-dimensional shape of the crane body, the outer contour of the crane can be described, i.e. the accurate position of the crane body is obtained; measure the angle of rotation of the boom around the origin (the bottom center of the crane boom axis) by the accelerometer, gyroscope, and magnetometer. Based on the known length l of the boom, the spatial position (x2, y2, z2) of the top center of the crane boom axis can be obtained based on the rigid body motion equation.

[0067] Specifically, since the Beidou high-precision positioning sensor is installed at the spatial position of the bottom center of the crane boom axis, the position of the crane is represented by the position information of the Beidou high-precision positioning sensor, and (B, L, H) is converted to the coordinates (x1, y1, z1) of the engineering self-defined coordinate system, and the specific method is as follows:

[0068] x1=x0+N·(L-L0)·cosB

[0069]

[0070] z1=H

[0071] In the formula, e is the first eccentricity of the ellipsoid, N is the curvature radius of the prime vertical circle, M is the arc length of the meridian, B is the latitude, L is the longitude, H is the height, L0 is the longitude of the central meridian, x0 and y0 are the origin coordinates of the Gauss projection coordinate system,... represents the high-order term;

[0072]

[0073] In the formula, a is the long semi-axis of the ellipsoid, and the position of the crane in the engineering self-defined coordinate system can be obtained by the above formula;

[0074] At this time, if the length of the boom measured by the boom length detection device is l, then

[0075] The spatial position (x2, y2, z2) of the top center of the crane boom axis is calculated by the following formula:

[0076] x2 = xi + l-cos y-cos (φ-β)

[0077]

[0078] z2 = zi + l-sin y

[0079] In the formula, β is the angle between the Y axis of the engineering custom coordinate system and the true north direction, φ is the yaw angle, and γ is the Euler angle of the pitch angle and the roll angle θ, and the specific calculation formula of the Euler angle is as follows:

[0080]

[0081]

[0082] In the formula, (α x , α y , α z ) is the measurement value of the accelerometer when the crane boom is in any attitude, is the measurement value of the magnetometer, Δφ is the magnetic declination between the true north and the magnetic north, and the roll angle θ of the crane boom is 0.

[0083] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0084] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0085] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 The functions of a flow or multiple flows and / or a block or multiple blocks in accordance with the embodiments herein can be implemented as computer program instructions. Figure 1

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow Figure 1 The functions of a flow or multiple flows and / or a block or multiple blocks in accordance with the embodiments herein can be implemented as computer program instructions. Figure 1

[0087] Each technical feature in the above-described embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations are described, but it is understood that the scope of the present disclosure includes all possible combinations.

[0088] The above-described embodiments are merely exemplary and are not intended to limit the scope of the present disclosure. It is understood that various modifications and changes can be made by those skilled in the art to which the present disclosure pertains without departing from the spirit of the present disclosure, and such modifications and changes are intended to fall within the scope of the present disclosure. Therefore, the scope of the patent of the present disclosure should be determined by the appended claims.

[0089] The patent is not limited to the above-described best mode, and anyone can derive other various forms of a construction crane boom position information and motion trajectory accurate acquisition method and system based on multi-sensor information based on the inspiration of the patent. Any changes and modifications made in accordance with the scope of the patent application of the present disclosure should be within the scope of the patent.​​

Claims

1. A method for acquiring accurate position information and motion trajectory of a construction crane jib based on multi-sensor information, characterized in that, Comprise the following steps: S1, install sensors on the crane boom, including at least 1 Beidou high-precision positioning sensor, at least 1 accelerometer, at least 1 gyroscope, at least 1 magnetometer, at least 1 boom length detection device; S2, deploy data processing module; S3, obtain data of Beidou high-precision positioning sensor, accelerometer, gyroscope, magnetometer, boom length detection device; S4, estimate the position and attitude of the crane boom through data fusion of Beidou high-precision positioning sensor, accelerometer, gyroscope, magnetometer, boom length detection device; In step S4, the position and attitude of the crane boom are estimated through data fusion of Beidou high-precision positioning sensor, accelerometer, gyroscope, magnetometer; the spatial position (B, L, H) of the center of the bottom of the crane boom axis is measured by the Beidou high-precision positioning sensor, and the latitude and longitude are converted into the coordinates (x1, y1, z1) of the engineering self-defined coordinate system based on coordinate conversion; the outer contour of the crane is depicted based on the known spatial three-dimensional shape of the crane body, and the accurate position of the crane body is obtained; the angle of rotation of the boom around the origin, i.e. the center of the bottom of the crane boom axis, is measured by the accelerometer, gyroscope and magnetometer; based on the known boom length L, the spatial position (x2, y2, z2) of the center of the top of the crane boom axis is obtained based on the rigid body motion equation; Because the Beidou high-precision positioning sensor is installed at the spatial position of the center of the bottom of the crane boom axis, the position of the crane is represented by the position information of the Beidou high-precision positioning sensor, and (B, L, H) is converted into the coordinates (x1, y1, z1) of the engineering self-defined coordinate system, and the specific method is as follows: x1=x0+N·(L-L0)·cosB z1=H In the formula, e is the first eccentricity of the ellipsoid, N is the curvature radius of the moon, M is the meridian arc length, B is the latitude, L is the longitude, H is the height, L0 is the longitude of the central meridian, x0 and y0 are the origin coordinates of the Gauss projection coordinate system,... represents the high-order term; In the formula, a is the long semi-axis of the ellipsoid, and the position of the crane in the engineering self-defined coordinate system is obtained by the above formula; At this time, if the boom length measured by the boom length detection device is l, then The spatial position (x2, y2, z2) of the center of the top of the crane boom axis is calculated by the following formula: x2=x1+l·cosγ·cos(φ-β) z2=z1+l·sinγ In the formula, β is the angle between the Y axis of the engineering self-defined coordinate system and the north direction, φ is the yaw angle, γ is the Euler angle composed of the pitch angle and the roll angle θ, and the specific calculation formula of the Euler angle is as follows: where (α x ,α y ,α z ) are the measured values of the accelerometer when the crane jib is in any attitude, is the measured value of the magnetometer, Δφ is the magnetic declination between true north and magnetic north, and the roll angle θ is 0 for the crane jib.

2. The method for acquiring the precise construction crane boom position information and motion trajectory based on multi-sensor information according to claim 1, characterized in that, In step S1, the Beidou high-precision positioning sensor, accelerometer, gyroscope and magnetometer are installed at the center of the bottom of the crane boom, which is used to accurately measure the translational and rotational data of the boom axis bottom center; the boom length detection device is used to measure the length of the boom. 3.The method for acquiring precise construction crane boom position information and motion trajectory based on multi-sensor information according to claim 1, characterized in that, In step S2, the data processing module is deployed on site, which is used to receive the data of each sensor, calculate the position information of the crane boom, record and store the position data of the crane boom at each time point to form the motion trajectory of the crane boom. 4.The method for acquiring precise construction crane boom position information and motion trajectory based on multi-sensor information according to claim 1, characterized in that, In step S3, the length of the boom is measured by the boom length detection device; the spatial position (B, L, H) of the bottom center of the crane boom axis is measured by the Beidou high-precision positioning sensor; the angle of rotation of the boom around the origin, i.e. the bottom center of the crane boom axis, is measured by the accelerometer, the gyroscope, and the magnetometer.

5. A multi-sensor information based construction crane jib position information and motion trajectory precise acquisition system for performing the multi-sensor information based construction crane jib position information and motion trajectory precise acquisition method according to any one of claims 1-4, characterized in that, The device comprises at least one Beidou high-precision positioning sensor, at least one accelerometer, at least one gyroscope, at least one magnetometer, at least one boom length detection device, and at least one data processing module; wherein, The Beidou high-precision positioning sensor calculates the spatial position of the bottom center of the crane boom axis by measuring position information; The accelerometer calculates the attitude of the crane boom by measuring the acceleration of the crane boom; The gyroscope calculates the attitude of the crane boom by measuring the angular velocity of the crane boom when rotating; The magnetometer calculates the attitude of the crane boom by measuring the strength of the earth's magnetic field; The boom length detection device measures the length of the crane boom; The data processing module gathers and stores the data collected by each sensor, and fuses the position and attitude of the crane boom.

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