Positioning method and system for unmanned tower crane

Abstract

The present invention discloses a positioning method and system for an unmanned tower crane. The method and system define the first spatial coordinates of a tower crane part based on a position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; define the second spatial coordinates according to the position of the tower crane part of the unmanned tower crane and the position marked by a satellite system; define the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates; define the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; define the position deviation of the tower crane part relative to the working position according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position; define the position control accuracy of the tower crane part during the working process according to the position deviation, multiple environmental features and the position accuracy level of the working position; perform high-precision control on the position of the tower crane part during the working process, and ensure the working effect of the unmanned tower crane.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned tower cranes, and in particular to a positioning method and system for unmanned tower cranes. Background Art

[0002] With the development of science and technology, unmanned tower cranes are applied to construction sites, GNSS equipment is applied to unmanned tower cranes, and corresponding coordinates are introduced. In the existing technology, coordinate detection is performed on the working center of the unmanned tower crane, and corresponding coordinates are introduced. However, the coordinate detection is only performed in a single dimension, and the coordinates of the tower crane part are only for positioning, and cannot regulate the position control accuracy of the tower crane part during the working process, which affects the dynamic work of the tower crane part. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a positioning method and system for an unmanned tower crane, which traverses the unmanned tower crane and collects multiple position data of the unmanned tower crane along different dimensions; constructs a position system of the unmanned tower crane according to the multiple position data of the unmanned tower crane; defines the first spatial coordinates of the tower crane part based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; associates the unmanned tower crane and a satellite system, and defines a second spatial coordinate according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, thereby introducing the second spatial coordinate and the first spatial coordinate, and controlling the second spatial coordinate and the first spatial coordinate at different latitudes to ensure the accuracy of the second spatial coordinate and the first spatial coordinate.

[0004] Furthermore, the actual position information of the tower crane part is defined according to the second spatial coordinates and the first spatial coordinates, and the GNSS coordinates of the tower crane part are defined based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; the position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and the position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, thereby performing refined management and control of the dynamic work of the tower crane part, and performing high-precision control of the position of the tower crane part during the working process, thereby ensuring the working effect of the unmanned tower crane.

[0005] The embodiment of the present invention provides a positioning method for an unmanned tower crane, which is applied to the positioning scenario of an unmanned tower crane;

[0006] The positioning method of the unmanned tower crane comprises:

[0007] Traverse the unmanned tower crane and collect multiple location data of the unmanned tower crane along different dimensions;

[0008] Constructing the location system of the unmanned tower crane based on multiple location data of the unmanned tower crane;

[0009] Based on the position system of the unmanned tower crane and the position of the tower crane of the unmanned tower crane, a first spatial coordinate of the tower crane is defined;

[0010] Associating the unmanned tower crane and the satellite system, and defining a second spatial coordinate according to the location of the tower crane of the unmanned tower crane and the location marked by the satellite system;

[0011] defining the actual position information of the tower crane part according to the second spatial coordinate and the first spatial coordinate, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane;

[0012] The position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position. The position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position.

[0013] Optionally, traversing the unmanned tower crane and collecting multiple position data of the unmanned tower crane along different dimensions includes:

[0014] Locate the unmanned tower crane and collect its current position;

[0015] Triggering positioning detection of the unmanned tower crane based on the current position of the unmanned tower crane;

[0016] Based on multiple drones, positioning detection is performed along the unmanned tower crane, and dynamic collection of the unmanned tower crane is performed along the circular direction to collect images of the unmanned tower crane in multiple different dimensions;

[0017] Defining the three-dimensional features of the unmanned tower crane based on images of the unmanned tower crane in multiple different dimensions, and locating corresponding position detection points according to the three-dimensional features of the unmanned tower crane;

[0018] The corresponding position detection is triggered based on each position detection point, and multiple position data of the unmanned tower crane are collected. At this time, the multiple position data are respectively at different positions and serve as position data in different dimensions.

[0019] Optionally, constructing a position system of the unmanned tower crane according to multiple position data of the unmanned tower crane includes:

[0020] Freeze multiple position data of unmanned tower cranes;

[0021] Constructing multiple position data combinations based on multiple position data of the unmanned tower crane and the overall volume of the unmanned tower crane;

[0022] Defining a plurality of location features based on autonomous matching of a plurality of location data combinations;

[0023] Associating a plurality of position features with a current position of a crane portion of an unmanned tower crane;

[0024] A position system of the unmanned tower crane is constructed based on a plurality of position features and the current position of the tower crane part of the unmanned tower crane.

[0025] Optionally, the defining the first spatial coordinates of the tower crane part based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane includes:

[0026] Determine the location system of unmanned tower cranes;

[0027] When the tower crane of the unmanned tower crane is in a moving state, the position of the tower crane of the unmanned tower crane is collected;

[0028] The location system of the unmanned tower crane, the location of the tower crane and the overall space area of ​​the unmanned tower crane;

[0029] Define the primary spatial coordinates according to the position system of the unmanned tower crane and the position of the tower crane;

[0030] Define dynamic coordinate influencing parameters according to the location system of the unmanned tower crane and the location of the tower crane;

[0031] The primary spatial coordinates and the dynamic coordinate influencing parameters are associated, and the first spatial coordinates of the tower crane part are defined according to the primary spatial coordinates, the dynamic coordinate influencing parameters and the tower crane part.

[0032] Optionally, associating the unmanned tower crane and the satellite system, and defining the second spatial coordinate according to the position of the tower crane of the unmanned tower crane and the position marked by the satellite system, includes:

[0033] Fixed frame unmanned tower crane and satellite system;

[0034] Link the unmanned tower crane and satellite system, and dynamically interact with them;

[0035] In the dynamic interaction between the unmanned tower crane and the satellite system, the position of the tower crane of the unmanned tower crane is monitored in real time;

[0036] Associating the location of the tower crane of the unmanned tower crane and the location marked by the satellite system; dynamically matching the location of the tower crane of the unmanned tower crane and the location marked by the satellite system, and defining a corresponding matching coefficient;

[0037] If the matching coefficient is lower than the preset matching coefficient, a review of the position of the tower crane part or the position marked by the satellite system is triggered based on the matching coefficient until the matching coefficient is greater than the preset matching coefficient, and a second spatial coordinate is defined based on the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system.

[0038] Optionally, defining the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane, includes:

[0039] Freeze the second space coordinate and the first space coordinate;

[0040] Associating the second space coordinate with the first space coordinate;

[0041] Dynamically matching the second spatial coordinates with the first spatial coordinates, and outputting each matched sub-coordinate;

[0042] The actual position information of the tower crane part is defined according to each sub-coordinate.

[0043] Optionally, the defining the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane, further includes:

[0044] Collect the actual location information of the tower crane and the actual location information of the unmanned tower crane;

[0045] The GNSS coordinates of the tower crane part are defined according to the actual position information of the tower crane part, the actual position information of the unmanned tower crane and the GNSS learning module.

[0046] Optionally, defining the position deviation of the tower crane relative to the working position according to the GNSS coordinates of the tower crane and the GNSS coordinates of the working position, and defining the position control accuracy of the tower crane during the working process according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, includes:

[0047] Freeze the GNSS coordinates of the crane part;

[0048] Collect the GNSS coordinates of the tower crane and associate the GNSS coordinates of the tower crane with the GNSS coordinates of the working position;

[0049] Define the coordinate difference according to the GNSS coordinates of the crane part and the GNSS coordinates of the working position;

[0050] The position deviation amount of the tower crane part relative to the working position is defined based on the coordinate difference amount and the deviation direction of the tower crane part relative to the working position.

[0051] Optionally, the step of defining the position deviation of the tower crane relative to the working position according to the GNSS coordinates of the tower crane and the GNSS coordinates of the working position, and defining the position control accuracy of the tower crane during the working process according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, further includes:

[0052] The position deviation of the associated tower crane part relative to the working position;

[0053] The deviation level is defined according to the position deviation amount and the three-dimensional space of the tower crane part;

[0054] The position control accuracy of the tower crane part during the working process is defined based on the deviation level, multiple environmental characteristics and the position accuracy level of the working position.

[0055] In addition, an embodiment of the present invention further provides a positioning system for an unmanned tower crane, the positioning system for the unmanned tower crane comprising:

[0056] A traversal module is used to traverse the unmanned tower crane and collect multiple position data of the unmanned tower crane along different dimensions;

[0057] A position system module is used to construct a position system of an unmanned tower crane based on multiple position data of the unmanned tower crane;

[0058] A first spatial coordinate module, used for defining a first spatial coordinate of the tower crane part based on a position system of the unmanned tower crane and a position of the tower crane part of the unmanned tower crane;

[0059] A second spatial coordinate module is used to associate the unmanned tower crane and the satellite system, and define the second spatial coordinate according to the position of the tower crane of the unmanned tower crane and the position marked by the satellite system;

[0060] A GNSS coordinate module, used to define the actual position information of the tower crane part according to the second spatial coordinate and the first spatial coordinate, and define the GNSS coordinate of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane;

[0061] The position module is used to define the position deviation of the tower crane part relative to the working position based on the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and to define the position control accuracy of the tower crane part during the working process based on the position deviation, multiple environmental characteristics and the position accuracy level of the working position.

[0062] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned tower crane is traversed, and multiple position data of the unmanned tower crane are collected along different dimensions; the position system of the unmanned tower crane is constructed according to the multiple position data of the unmanned tower crane; the first spatial coordinates of the tower crane part are defined based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; the unmanned tower crane and the satellite system are associated, and the second spatial coordinates are defined according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, thereby introducing the second spatial coordinates and the first spatial coordinates, and controlling the second spatial coordinates and the first spatial coordinates at different latitudes to ensure the accuracy of the second spatial coordinates and the first spatial coordinates.

[0063] Furthermore, the actual position information of the tower crane part is defined according to the second spatial coordinates and the first spatial coordinates, and the GNSS coordinates of the tower crane part are defined based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; the position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and the position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, thereby performing refined management and control of the dynamic work of the tower crane part, and performing high-precision control of the position of the tower crane part during the working process, thereby ensuring the working effect of the unmanned tower crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1 It is a schematic flow chart of a positioning method for an unmanned tower crane in an embodiment of the present invention;

[0066] Figure 2 is a flow chart of S11 in the positioning method of an unmanned tower crane in an embodiment of the present invention;

[0067] Figure 3 is a schematic flow chart of S12 in the positioning method of an unmanned tower crane in an embodiment of the present invention;

[0068] Figure 4 is a schematic flow chart of S13 in the positioning method of an unmanned tower crane in an embodiment of the present invention;

[0069] Figure 5is a flow chart of S14 in the positioning method of an unmanned tower crane in an embodiment of the present invention;

[0070] Figure 6 is a schematic flow chart of S15 in the positioning method of an unmanned tower crane in an embodiment of the present invention;

[0071] Figure 7 is a flow chart of S16 in the positioning method of an unmanned tower crane in an embodiment of the present invention;

[0072] Figure 8 Schematic diagram of the structure of the positioning system of the unmanned tower crane in the embodiment of the present invention;

[0073] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] See also Figures 1 to 9 , a positioning method for an unmanned tower crane is applied to the positioning scenario of an unmanned tower crane; the positioning method for an unmanned tower crane includes:

[0076] Step S11: traverse the unmanned tower crane and collect multiple position data of the unmanned tower crane along different dimensions;

[0077] Step S12: constructing a position system of the unmanned tower crane according to a plurality of position data of the unmanned tower crane;

[0078] Step S13: defining the first spatial coordinates of the tower crane part based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane;

[0079] Step S14: Associating the unmanned tower crane and the satellite system, and defining a second spatial coordinate according to the location of the tower crane of the unmanned tower crane and the location marked by the satellite system;

[0080] Step S15: defining the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane;

[0081] Step S16: Define the position deviation of the tower crane relative to the working position according to the GNSS coordinates of the tower crane and the GNSS coordinates of the working position, and define the position control accuracy of the tower crane during the working process according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position.

[0082] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned tower crane is traversed, and multiple position data of the unmanned tower crane are collected along different dimensions; the position system of the unmanned tower crane is constructed according to the multiple position data of the unmanned tower crane; the first spatial coordinates of the tower crane part are defined based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; the unmanned tower crane and the satellite system are associated, and the second spatial coordinates are defined according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, thereby introducing the second spatial coordinates and the first spatial coordinates, and controlling the second spatial coordinates and the first spatial coordinates at different latitudes to ensure the accuracy of the second spatial coordinates and the first spatial coordinates.

[0083] Furthermore, the actual position information of the tower crane part is defined according to the second spatial coordinates and the first spatial coordinates, and the GNSS coordinates of the tower crane part are defined based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; the position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and the position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, thereby performing refined management and control of the dynamic work of the tower crane part, and performing high-precision control of the position of the tower crane part during the working process, thereby ensuring the working effect of the unmanned tower crane.

[0084] refer to Figure 2 , in step S11, traverse the unmanned tower crane, and collect multiple position data of the unmanned tower crane along different dimensions;

[0085] In the specific implementation process of the present invention, the specific steps may be:

[0086] S111: Positioning the unmanned tower crane and collecting the current position of the unmanned tower crane;

[0087] S112: triggering positioning detection of the unmanned tower crane based on the current position of the unmanned tower crane;

[0088] S113: performing positioning detection along the unmanned tower crane based on multiple drones, and dynamically collecting images of the unmanned tower crane along a circular direction, so as to collect images of the unmanned tower crane in multiple different dimensions;

[0089] S114: defining the three-dimensional features of the unmanned tower crane based on the images of the unmanned tower crane in multiple different dimensions, and locating corresponding position detection points according to the three-dimensional features of the unmanned tower crane;

[0090] S115: triggering corresponding position detection based on each position detection point, and collecting multiple position data of the unmanned tower crane. At this time, the multiple position data are respectively at different positions and serve as position data in different dimensions.

[0091] In an embodiment of the present application, the unmanned tower crane is located, and the current position of the unmanned tower crane is collected, the current position of the unmanned tower crane is introduced, and the current position of the unmanned tower crane is further processed. At this time, the positioning detection of the unmanned tower crane is triggered based on the current position of the unmanned tower crane, so that positioning detection is performed along the unmanned tower crane based on multiple drones, and the unmanned tower crane is dynamically collected along a circular direction to collect images of the unmanned tower crane in multiple different dimensions, so as to realize the image collection of the unmanned tower crane, thereby introducing images of the unmanned tower crane in multiple different dimensions.

[0092] Therefore, the three-dimensional features of the unmanned tower crane are defined based on images of the unmanned tower crane in multiple different dimensions, and the corresponding position detection points are located according to the three-dimensional features of the unmanned tower crane, so as to facilitate the layout of the position detection points of the three-dimensional features of the unmanned tower crane, thereby introducing multiple position detection points.

[0093] Furthermore, corresponding position detection is triggered based on each position detection point, and multiple position data of the unmanned tower crane are collected. At this time, the multiple position data are respectively at different positions and serve as position data in different dimensions, thereby realizing further processing of the multiple position data.

[0094] refer to Figure 3 , in step S12, a position system of the unmanned tower crane is constructed according to a plurality of position data of the unmanned tower crane;

[0095] In the specific implementation process of the present invention, the specific steps may be:

[0096] S121: freeze multiple position data of the unmanned tower crane;

[0097] S122: constructing a plurality of position data combinations based on the plurality of position data of the unmanned tower crane and the overall volume of the unmanned tower crane;

[0098] S123: defining a plurality of location features according to autonomous matching of a plurality of location data combinations;

[0099] S124: Associating a plurality of position features with a current position of a tower crane of the unmanned tower crane;

[0100] S125: Constructing a position system of the unmanned tower crane based on the multiple position features and the current position of the tower crane of the unmanned tower crane.

[0101] In an embodiment of the present application, multiple position data of the unmanned tower crane are frozen and introduced, so as to construct multiple position data combinations based on the multiple position data of the unmanned tower crane and the overall volume of the unmanned tower crane, control is performed on the multiple position data combinations, and multi-dimensional control is performed based on the multiple position data of the unmanned tower crane and the overall volume of the unmanned tower crane, thereby ensuring the accuracy of the multiple position data combinations.

[0102] Furthermore, multiple location features are defined based on autonomous matching of multiple location data combinations, so that corresponding location features can be constructed through multiple location data combinations, thereby introducing multiple location features.

[0103] Therefore, multiple position features and the current position of the crane part of the unmanned tower crane are associated, and overall control is performed on the multiple position features and the current position of the crane part of the unmanned tower crane, so as to construct a position system of the unmanned tower crane based on the multiple position features and the current position of the crane part of the unmanned tower crane, thereby ensuring the accuracy of the position system of the unmanned tower crane and being compatible with the overall consideration of multiple position features and the current position of the crane part of the unmanned tower crane.

[0104] refer to Figure 4 In step S13, a first spatial coordinate of the tower crane part is defined based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane;

[0105] In the specific implementation process of the present invention, the specific steps may be:

[0106] S131: Positioning system for unmanned tower cranes;

[0107] S132: when the tower crane of the unmanned tower crane is in a moving state, collecting the position of the tower crane of the unmanned tower crane;

[0108] S133: Associating the location system of the unmanned tower crane, the location of the tower crane, and the overall space area of ​​the unmanned tower crane;

[0109] S134: defining primary spatial coordinates according to the position system of the unmanned tower crane and the position of the tower crane;

[0110] S135: defining dynamic coordinate influencing parameters according to the position system of the unmanned tower crane and the position of the tower crane;

[0111] S136: Associating the primary spatial coordinates and the dynamic coordinate influencing parameters, and defining the first spatial coordinates of the tower crane part according to the primary spatial coordinates, the dynamic coordinate influencing parameters and the tower crane part.

[0112] In an embodiment of the present application, the position system of the unmanned tower crane is frozen, and the position system of the unmanned tower crane is further processed. At this time, when the tower crane part of the unmanned tower crane is in a moving state, the position of the tower crane part of the unmanned tower crane is collected, so as to introduce the position of the tower crane part of the unmanned tower crane, and further control the position of the tower crane part of the unmanned tower crane.

[0113] Furthermore, the position system of the unmanned tower crane, the location of the tower crane and the overall spatial area of ​​the unmanned tower crane are associated, and multi-dimensional control is performed on the position system of the unmanned tower crane, the location of the tower crane and the overall spatial area of ​​the unmanned tower crane, thereby achieving overall control of the position system of the unmanned tower crane, the location of the tower crane and the overall spatial area of ​​the unmanned tower crane.

[0114] Therefore, the primary spatial coordinates are defined according to the position system of the unmanned tower crane and the position of the tower crane, and multi-dimensional control is performed on the position system of the unmanned tower crane and the position of the tower crane to ensure the accuracy of the primary spatial coordinates. At the same time, the dynamic coordinate influencing parameters are defined according to the position system of the unmanned tower crane and the position of the tower crane. Therefore, the primary spatial coordinates and the dynamic coordinate influencing parameters are associated, and the first spatial coordinates of the tower crane are defined according to the primary spatial coordinates, the dynamic coordinate influencing parameters and the tower crane, thereby ensuring the accuracy of the first spatial coordinates and realizing multi-dimensional control of the primary spatial coordinates, the dynamic coordinate influencing parameters and the tower crane.

[0115] refer to Figure 5 , S14: Associating the unmanned tower crane and the satellite system, and defining a second spatial coordinate according to the position of the tower crane of the unmanned tower crane and the position marked by the satellite system;

[0116] In the specific implementation process of the present invention, the specific steps may be:

[0117] S141: Fixed-frame unmanned tower crane and satellite system;

[0118] S142: Associating the unmanned tower crane and the satellite system, and dynamically interacting with the unmanned tower crane and the satellite system;

[0119] S143: In the dynamic interaction between the unmanned tower crane and the satellite system, the position of the tower crane of the unmanned tower crane is monitored in real time;

[0120] S144: Associating the location of the tower crane of the unmanned tower crane and the location marked by the satellite system; dynamically matching the location of the tower crane of the unmanned tower crane and the location marked by the satellite system, and defining a corresponding matching coefficient;

[0121] S145: If the matching coefficient is lower than the preset matching coefficient, a review of the position of the tower crane part or the position marked by the satellite system is triggered based on the matching coefficient until the matching coefficient is greater than the preset matching coefficient, and a second spatial coordinate is defined according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system.

[0122] In an embodiment of the present application, an unmanned tower crane is traversed, and multiple position data of the unmanned tower crane are collected along different dimensions; a position system of the unmanned tower crane is constructed according to the multiple position data of the unmanned tower crane; a first spatial coordinate of the tower crane part is defined based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; the unmanned tower crane and the satellite system are associated, and a second spatial coordinate is defined according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, thereby introducing the second spatial coordinate and the first spatial coordinate, and controlling the second spatial coordinate and the first spatial coordinate at different latitudes to ensure the accuracy of the second spatial coordinate and the first spatial coordinate.

[0123] At this time, the unmanned tower crane and satellite system are frozen and introduced to facilitate the association of the unmanned tower crane and satellite system. Dynamic interaction is carried out based on the unmanned tower crane and satellite system, which ensures the further development of the unmanned tower crane and satellite system.

[0124] Furthermore, in the dynamic interaction between the unmanned tower crane and the satellite system, the position of the tower crane of the unmanned tower crane is monitored in real time, and the position of the tower crane of the unmanned tower crane is further processed. At the same time, the position of the tower crane of the unmanned tower crane and the position marked by the satellite system are associated; the position of the tower crane of the unmanned tower crane and the position marked by the satellite system are dynamically matched, and a corresponding matching coefficient is defined. The matching coefficient is used to present the degree of matching between the position of the tower crane of the unmanned tower crane and the position marked by the satellite system.

[0125] If the matching coefficient is lower than the preset matching coefficient, a review of the position of the tower crane part or the position marked by the satellite system is triggered based on the matching coefficient until the matching coefficient is greater than the preset matching coefficient, and the second spatial coordinate is defined according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, thereby ensuring the accuracy of the second spatial coordinate and realizing multi-dimensional control of the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system.

[0126] refer to Figure 6 , S15: defining the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane;

[0127] In the specific implementation process of the present invention, the specific steps may be:

[0128] S151: Freeze the second space coordinate and the first space coordinate;

[0129] S152: Associating the second space coordinates with the first space coordinates;

[0130] S153: dynamically matching the second space coordinates with the first space coordinates, and outputting each matched sub-coordinate;

[0131] S154: defining the actual position information of the tower crane part according to each sub-coordinate;

[0132] S155: Collecting actual position information of the tower crane and the actual position information of the unmanned tower crane;

[0133] S156: Define the GNSS coordinates of the tower crane part according to the actual position information of the tower crane part, the actual position information of the unmanned tower crane and the GNSS learning module.

[0134] In an embodiment of the present application, the second space coordinates and the first space coordinates are frozen, the second space coordinates and the first space coordinates are further processed, and the second space coordinates and the first space coordinates are associated to facilitate dynamic matching of the second space coordinates and the first space coordinates, and the matched sub-coordinates are output, thereby introducing multiple sub-coordinates.

[0135] Therefore, the actual position information of the tower crane is defined according to each sub-coordinate, and the actual position information of the tower crane is controlled. At the same time, the actual position information of the tower crane and the actual position information of the unmanned tower crane are collected; the GNSS coordinates of the tower crane are defined according to the actual position information of the tower crane, the actual position information of the unmanned tower crane and the GNSS learning module, and multi-dimensional control is performed based on the actual position information of the tower crane, the actual position information of the unmanned tower crane and the GNSS learning module, which ensures the accuracy of the GNSS coordinates of the tower crane and is compatible with the coordinate detection of the tower crane in various scenarios.

[0136] refer to Figure 7, S16: defining a position deviation of the tower crane part relative to the working position according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and defining a position control accuracy of the tower crane part during the working process according to the position deviation, multiple environmental characteristics and a position accuracy level of the working position;

[0137] In the specific implementation process of the present invention, the specific steps may be:

[0138] S161: freeze the GNSS coordinates of the crane part;

[0139] S162: Collecting the GNSS coordinates of the tower crane part, and associating the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position;

[0140] S163: defining a coordinate difference according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position;

[0141] S164: defining a position deviation of the tower crane part relative to the working position based on the coordinate difference amount and a deviation direction of the tower crane part relative to the working position;

[0142] S165: associating the position deviation of the tower crane part relative to the working position; defining the deviation level according to the position deviation and the three-dimensional space of the tower crane part;

[0143] S166: Define the position control accuracy of the tower crane part during the working process based on the deviation level, multiple environmental characteristics and the position accuracy level of the working position.

[0144] In the specific implementation process of the present invention, the actual position information of the tower crane part is defined according to the second spatial coordinates and the first spatial coordinates, and the GNSS coordinates of the tower crane part are defined based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; the position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and the position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, so as to perform refined control on the dynamic work of the tower crane part, and perform high-precision control on the position of the tower crane part during the working process, thereby ensuring the working effect of the unmanned tower crane.

[0145] At this time, freeze the GNSS coordinates of the tower crane part; collect the GNSS coordinates of the tower crane part, and associate the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and control the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position as a whole, so as to define the coordinate difference according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position.

[0146] At this time, the position deviation of the tower crane part relative to the working position is defined based on the coordinate difference and the deviation direction of the tower crane part relative to the working position, the coordinate difference and the deviation direction of the tower crane part relative to the working position are introduced, and the coordinate difference and the deviation direction of the tower crane part relative to the working position are controlled in multiple dimensions to ensure the accuracy of the position deviation of the tower crane part relative to the working position, and the position deviation of the tower crane part relative to the working position is further processed.

[0147] Therefore, the position deviation of the tower crane part relative to the working position is associated; the deviation level is defined according to the position deviation and the three-dimensional space of the tower crane part; the position control accuracy of the tower crane part during the working process is defined based on the deviation level, multiple environmental characteristics and the position accuracy level of the working position, so as to carry out refined management and control of the dynamic work of the tower crane part, and perform high-precision control of the position of the tower crane part during the working process, thereby ensuring the working effect of the unmanned tower crane.

[0148] In another embodiment of the present application, the circle fitting problem rotating around the center of the tower base and the straight line fitting problem of the tower arm center line passing through the center point of the GNSS device are solved. Then, by solving the distance between the center point of the tower base and the straight line passing through the center point of the GNSS device, the distance from the center point of the GNSS device to the tower arm center line is indirectly obtained, and the calibration task of the position parameter is completed.

[0149] First, move the tower crane trolley along the tower arm to the arm tip, fix the trolley's position on the tower arm, rotate the tower arm 360 degrees, and record the three-dimensional coordinate information of each point in the moving trajectory of the GNSS device center point. Although the GNSS device is not on the tower arm, it and the trolley form a rigid body. When the trolley is in circular motion, the GNSS device is also in circular motion. Therefore, the point set coordinate information of the GNSS center point can be used for circle fitting. The circle fitting formula is:

[0150] ;

[0151] According to the fitting formula, the coordinates of the center of the circle are obtained. and the radius of the circle The radius of the center of the circle is That is the center coordinate of the tower base.

[0152] Then lock the tower arm (the tower arm does not rotate), and slowly move the tower crane trolley from the arm tip to a position close to the center of the tower base. Since the trolley and the GNSS device form a rigid body, when the trolley moves along the center line of the tower arm, the center point of the GNSS device also moves with it. And the motion trajectory of the GNSS center point can just form a line segment parallel to the center line of the tower arm. Perform a straight line fit on the motion trajectory of the GNSS center point. The straight line fitting equation is:

[0153] ;

[0154] According to the center coordinates of the tower base And the straight line trajectory of the GNSS center point The equation of the tower arm center line can be obtained as . It is the distance between the center of the GNSS device and the center line of the tower arm.

[0155] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned tower crane is traversed, and multiple position data of the unmanned tower crane are collected along different dimensions; the position system of the unmanned tower crane is constructed according to the multiple position data of the unmanned tower crane; the first spatial coordinates of the tower crane part are defined based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; the unmanned tower crane and the satellite system are associated, and the second spatial coordinates are defined according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, thereby introducing the second spatial coordinates and the first spatial coordinates, and controlling the second spatial coordinates and the first spatial coordinates at different latitudes to ensure the accuracy of the second spatial coordinates and the first spatial coordinates.

[0156] Furthermore, the actual position information of the tower crane part is defined according to the second spatial coordinates and the first spatial coordinates, and the GNSS coordinates of the tower crane part are defined based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; the position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and the position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, thereby performing refined management and control of the dynamic work of the tower crane part, and performing high-precision control of the position of the tower crane part during the working process, thereby ensuring the working effect of the unmanned tower crane.

[0157] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the positioning system of the unmanned tower crane in the embodiment of the present invention.

[0158] like Figure 8 As shown, a positioning system for an unmanned tower crane, the positioning system for the unmanned tower crane comprises:

[0159] A traversal module 21 is used to traverse the unmanned tower crane and collect multiple position data of the unmanned tower crane along different dimensions;

[0160] A position system module 22, used to construct a position system of the unmanned tower crane according to a plurality of position data of the unmanned tower crane;

[0161] A first spatial coordinate module 23, used to define a first spatial coordinate of the tower crane part based on a position system of the unmanned tower crane and a position of the tower crane part of the unmanned tower crane;

[0162] The second spatial coordinate module 24 is used to associate the unmanned tower crane with the satellite system and define the second spatial coordinate according to the position of the tower crane of the unmanned tower crane and the position marked by the satellite system;

[0163] The GNSS coordinate module 25 is used to define the actual position information of the tower crane part according to the second spatial coordinate and the first spatial coordinate, and define the GNSS coordinate of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane;

[0164] The position module 26 is used to define the position deviation of the tower crane part relative to the working position based on the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and to define the position control accuracy of the tower crane part during the working process based on the position deviation, multiple environmental characteristics and the position accuracy level of the working position.

[0165] See also Fig. 9 , refer to the following Fig. 9 The electronic intelligent device 40 according to this embodiment of the present invention is described. Fig. 9 The electronic intelligent device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0166] like Fig. 9 As shown, the electronic intelligent device 40 is in the form of a general computing intelligent device. The components of the electronic intelligent device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0167] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0168] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0169] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0170] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0171] The electronic smart device 40 may also communicate with one or more external smart devices (e.g., keyboards, pointing smart devices, Bluetooth smart devices, etc.), one or more smart devices that enable a user to interact with the electronic smart device 40, and / or any smart device that enables the electronic smart device 40 to communicate with one or more other computing smart devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic smart device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic intelligent device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic intelligent device 40, including but not limited to: microcode, intelligent device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0172] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing intelligent device (which can be a personal computer, a server, a terminal device, or a network intelligent device, etc.) to execute the method according to the implementation of the present disclosure.

[0173] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0174] In addition, the above describes in detail the positioning method and system of the unmanned tower crane provided by the embodiment of the present invention. In this article, specific examples are used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A positioning method for an unmanned tower crane, characterized in that: Applied to the positioning scenario of unmanned tower cranes; The positioning method of the unmanned tower crane comprises: Traverse the unmanned tower crane and collect multiple location data of the unmanned tower crane along different dimensions; Constructing the location system of the unmanned tower crane based on multiple location data of the unmanned tower crane; Based on the position system of the unmanned tower crane and the position of the tower crane of the unmanned tower crane, define the first spatial coordinate of the tower crane; freeze the position system of the unmanned tower crane; when the tower crane of the unmanned tower crane is in a moving state, collect the position of the tower crane of the unmanned tower crane; associate the position system of the unmanned tower crane, the position of the tower crane and the overall spatial area of ​​the unmanned tower crane; define the primary spatial coordinate according to the position system of the unmanned tower crane and the position of the tower crane; define the dynamic coordinate influencing parameter according to the position system of the unmanned tower crane and the position of the tower crane; associate the primary spatial coordinate and the dynamic coordinate influencing parameter, and define the first spatial coordinate of the tower crane according to the primary spatial coordinate, the dynamic coordinate influencing parameter and the tower crane; Associating the unmanned tower crane and the satellite system, and defining a second spatial coordinate according to the position of the tower crane of the unmanned tower crane and the position marked by the satellite system; freezing the unmanned tower crane and the satellite system; associating the unmanned tower crane and the satellite system, and dynamically interacting based on the unmanned tower crane and the satellite system; in the dynamic interaction between the unmanned tower crane and the satellite system, monitoring the position of the tower crane of the unmanned tower crane in real time; associating the position of the tower crane of the unmanned tower crane and the position marked by the satellite system; dynamically matching the position of the tower crane of the unmanned tower crane and the position marked by the satellite system, and defining a corresponding matching coefficient; if the matching coefficient is lower than the preset matching coefficient, triggering a review of the position of the tower crane or the position marked by the satellite system based on the matching coefficient, until the matching coefficient is greater than the preset matching coefficient, and defining a second spatial coordinate according to the position of the tower crane of the unmanned tower crane and the position marked by the satellite system; defining the actual position information of the tower crane part according to the second spatial coordinate and the first spatial coordinate, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; The position deviation of the tower crane part relative to the working position is defined according to the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position. The position control accuracy of the tower crane part during the working process is defined according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position.

2. The method for positioning an unmanned tower crane according to claim 1, characterized in that: The traversing of the unmanned tower crane and collecting multiple position data of the unmanned tower crane along different dimensions include: Locate the unmanned tower crane and collect its current position; Triggering positioning detection of the unmanned tower crane based on the current position of the unmanned tower crane; Based on multiple drones, positioning detection is performed along the unmanned tower crane, and dynamic collection of the unmanned tower crane is performed along the circular direction to collect images of the unmanned tower crane in multiple different dimensions; Defining the three-dimensional features of the unmanned tower crane based on images of the unmanned tower crane in multiple different dimensions, and locating corresponding position detection points according to the three-dimensional features of the unmanned tower crane; The corresponding position detection is triggered based on each position detection point, and multiple position data of the unmanned tower crane are collected. At this time, the multiple position data are respectively at different positions and serve as position data in different dimensions.

3. The method for positioning an unmanned tower crane according to claim 2, characterized in that: The method of constructing a position system of an unmanned tower crane according to a plurality of position data of the unmanned tower crane comprises: Freeze multiple position data of unmanned tower cranes; Constructing multiple position data combinations based on multiple position data of the unmanned tower crane and the overall volume of the unmanned tower crane; Defining a plurality of location features based on autonomous matching of a plurality of location data combinations; Associating a plurality of position features with a current position of a crane portion of an unmanned tower crane; A position system of the unmanned tower crane is constructed based on a plurality of position features and the current position of the tower crane part of the unmanned tower crane.

4. The method for positioning an unmanned tower crane according to claim 1, characterized in that: The method of defining the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane, includes: Freeze the second space coordinate and the first space coordinate; Associating the second space coordinate with the first space coordinate; Dynamically matching the second spatial coordinates with the first spatial coordinates, and outputting each matched sub-coordinate; The actual position information of the tower crane part is defined according to each sub-coordinate.

5. The method for positioning an unmanned tower crane according to claim 4, characterized in that: The method of defining the actual position information of the tower crane part according to the second spatial coordinates and the first spatial coordinates, and defining the GNSS coordinates of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane, further includes: Collect the actual location information of the tower crane and the actual location information of the unmanned tower crane; The GNSS coordinates of the tower crane part are defined according to the actual position information of the tower crane part, the actual position information of the unmanned tower crane and the GNSS learning module.

6. The method for positioning an unmanned tower crane according to claim 5, characterized in that: The method of defining the position deviation of the tower crane relative to the working position according to the GNSS coordinates of the tower crane and the GNSS coordinates of the working position, and defining the position control accuracy of the tower crane during the working process according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position, includes: Freeze the GNSS coordinates of the crane part; Collect the GNSS coordinates of the crane part and associate the GNSS coordinates of the crane part with the GNSS coordinates of the working position; Define the coordinate difference according to the GNSS coordinates of the crane part and the GNSS coordinates of the working position; The position deviation amount of the tower crane part relative to the working position is defined based on the coordinate difference amount and the deviation direction of the tower crane part relative to the working position.

7. The method for positioning an unmanned tower crane according to claim 6, characterized in that: The method further comprises: defining the position deviation of the tower crane relative to the working position according to the GNSS coordinates of the tower crane and the GNSS coordinates of the working position, and defining the position control accuracy of the tower crane during the working process according to the position deviation, multiple environmental characteristics and the position accuracy level of the working position. The position deviation of the associated crane part relative to the working position; the deviation level is defined according to the position deviation and the three-dimensional space of the crane part; The position control accuracy of the tower crane part during the working process is defined based on the deviation level, multiple environmental characteristics and the position accuracy level of the working position.

8. A positioning system for an unmanned tower crane, characterized in that: The positioning system of the unmanned tower crane is applied to the positioning method of the unmanned tower crane as claimed in any one of claims 1 to 7, and the positioning system of the unmanned tower crane comprises: A traversal module is used to traverse the unmanned tower crane and collect multiple position data of the unmanned tower crane along different dimensions; A position system module is used to construct a position system of an unmanned tower crane based on multiple position data of the unmanned tower crane; The first spatial coordinate module is used to define the first spatial coordinate of the tower crane part based on the position system of the unmanned tower crane and the position of the tower crane part of the unmanned tower crane; freeze the position system of the unmanned tower crane; when the tower crane part of the unmanned tower crane is in a moving state, collect the position of the tower crane part of the unmanned tower crane; associate the position system of the unmanned tower crane, the position of the tower crane part and the overall spatial area of ​​the unmanned tower crane; define the primary spatial coordinate according to the position system of the unmanned tower crane and the position of the tower crane part; define the dynamic coordinate influencing parameter according to the position system of the unmanned tower crane and the position of the tower crane part; associate the primary spatial coordinate and the dynamic coordinate influencing parameter, and define the first spatial coordinate of the tower crane part according to the primary spatial coordinate, the dynamic coordinate influencing parameter and the tower crane part; The second spatial coordinate module is used to associate the unmanned tower crane and the satellite system, and define the second spatial coordinate according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system; freeze the unmanned tower crane and the satellite system; associate the unmanned tower crane and the satellite system, and dynamically interact based on the unmanned tower crane and the satellite system; in the dynamic interaction between the unmanned tower crane and the satellite system, monitor the position of the tower crane part of the unmanned tower crane in real time; associate the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system; dynamically match the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system, and define the corresponding matching coefficient; if the matching coefficient is lower than the preset matching coefficient, trigger a review of the position of the tower crane part or the position marked by the satellite system based on the matching coefficient, until the matching coefficient is greater than the preset matching coefficient, and define the second spatial coordinate according to the position of the tower crane part of the unmanned tower crane and the position marked by the satellite system; A GNSS coordinate module, used to define the actual position information of the tower crane part according to the second spatial coordinate and the first spatial coordinate, and define the GNSS coordinate of the tower crane part based on the actual position information of the tower crane part and the actual position information of the unmanned tower crane; The position module is used to define the position deviation of the tower crane part relative to the working position based on the GNSS coordinates of the tower crane part and the GNSS coordinates of the working position, and to define the position control accuracy of the tower crane part during the working process based on the position deviation, multiple environmental characteristics and the position accuracy level of the working position.

Images