Crane operation early warning method and system based on TOA positioning

Abstract

The invention discloses a crane operation early warning method and system based on TOA positioning, and the method comprises the steps: S1, responding to a hoisting equipment work starting signal, and obtaining the distance information of hoisting equipment and an obstacle in real time through each UWB base station; s2, according to the distance information, collected by each UWB base station, of the obstacles and the hoisting equipment, the coordinate positions of the obstacles and the hoisting equipment are obtained in real time based on the TOA positioning technology; s3, according to the position information of the hoisting equipment and the obstacle, predicting the operation states of the hoisting equipment and the obstacle, and determining the safe distance between the hoisting equipment and the obstacle; and S4, when the actual distance between the crane equipment and the obstacle is smaller than the safety distance determined at the moment, performing early warning prompt. The anti-collision device can effectively prevent the hoisting equipment from colliding with obstacles in the operation process, reduces the accidents of collision injury of personnel on an operation site and equipment damage, and is suitable for further popularization and application.

Description

Technical Field

[0001] The present invention belongs to the technical field of lifting equipment, and in particular relates to a crane operation early warning method and system based on TOA positioning. Background Art

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

[0003] During the use of lifting and transportation equipment, accidents such as equipment hitting people or equipment often occur due to the frequent and close cross-operation between on-site operators and equipment, especially in some large equipment workshops. Collisions can cause casualties and property losses, and the responsibility for production safety is heavy. In order to reduce accidents of workshop personnel being hit and equipment being damaged, it is particularly important to reliably monitor and warn the positional relationship between crane equipment and on-site operators, objects and equipment at the construction site. Summary of the invention

[0004] To solve the above problems, the present invention provides a crane operation warning method and system based on TOA positioning. Based on the TOA technology, the collected obstacles and crane equipment are located in real time, and the safe distance is determined, which can effectively avoid the collision between the lifting equipment and obstacles during the operation process, and reduce the accidents of personnel injuries and equipment damage at the operation site.

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

[0006] S1: respond to the start signal of the lifting equipment, and obtain the distance information of the lifting equipment and obstacles in real time through each UWB base station;

[0007] S2: Based on the distance information of obstacles and lifting equipment collected by each UWB base station, the coordinate positions of each obstacle and lifting equipment are obtained in real time based on TOA positioning technology;

[0008] S3: Based on the position information of the lifting equipment and the obstacle, predict the operating status of the two and determine the safe distance between the lifting equipment and the obstacle;

[0009] S4: When the actual distance between the crane equipment and the obstacle is less than the safe distance determined at that moment, an early warning prompt is issued.

[0010] As a possible implementation, further, in step S1, in response to the lifting equipment start signal, the distance information between the lifting equipment and the obstacle is obtained in real time through each UWB base station; specifically, the following steps are included:

[0011] S1.1: Deploy several UWB base stations on site and configure corresponding positioning tags on the lifting equipment and obstacles;

[0012] S1.2: respond to the start signal of the lifting equipment, and obtain the distance information between each base station and the lifting equipment and each obstacle in real time through each UWB base station;

[0013] The obstacles include on-site workers, objects and equipment; the positioning tags of the obstacles and lifting equipment are marked with unique identification codes, and the identity information of the obstacles and lifting equipment can be identified through the identification codes.

[0014] As a possible implementation manner, further, a plurality of UWB base stations are arranged in two layers, the upper layer and the lower layer, and the UWB base stations in the same layer are arranged at the same height.

[0015] As a possible implementation, further, in step S2, the distance information of obstacles and lifting equipment collected by each UWB base station is used to obtain the coordinate position of each obstacle and lifting equipment in real time based on TOA positioning technology, which specifically includes the following steps:

[0016] S2.1: Based on the distance information between each obstacle and the lifting equipment collected by each UWB base station, the distance data sets of the upper and lower layers of UWB base stations about each identity code object are constructed respectively;

[0017] S2.2: sorting the distance data in the data sets obtained by the upper and lower layers of UWB base stations from small to large respectively, selecting four distance data with smaller sorting in the data sets obtained by the upper and lower layers of UWB base stations as feature data according to a preset method, and obtaining the spatial coordinate positions of the UWB base stations corresponding to the four distance data;

[0018] S2.3: According to the spatial coordinate positions of the four UWB base stations and the measured distance data, the coordinate positions of the objects corresponding to the identity codes are obtained based on the TOA positioning technology, and then the real-time coordinate positions of the obstacles and the lifting equipment are obtained.

[0019] As a possible implementation, further, in step S2.2, four distance data with smaller sorting in the data sets obtained by the upper and lower layers of UWB base stations are selected according to a preset method, and the specific steps are as follows:

[0020] a): Select the top three distance data from the data sets obtained by the upper and lower UWB base stations, sort them in ascending order, and select the top three distance data

[0021] b): Determine whether the UWB base stations corresponding to the top three distance data are UWB base stations of different layers. If so, use the top four distance data as feature data; if not, determine whether the top three distance data are upper or lower UWB base stations;

[0022] c): If the top three distance data are from the upper layer UWB base station, the top three distance data selected in step a) and the first distance data in the data set obtained from the lower layer UWB base station are used as feature data;

[0023] If the top three distance data are from the lower UWB base station, the top three distance data selected in step a) and the first-ranked distance data in the data set obtained from the upper UWB base station are used as feature data.

[0024] As a possible implementation, further, in step S2.3, according to the spatial coordinate positions of the four UWB base stations and the measured distance data, the coordinate positions of the objects corresponding to the identity codes are obtained by TOA positioning technology, and then the real-time coordinate positions of the obstacles and the lifting equipment are obtained. The specific steps are as follows:

[0025] With the four selected distance data as the radius and the spatial coordinate position of the UWB base station corresponding to the four distance data as the center, four spatial spheres are established;

[0026] Determine whether the outer surfaces of the four spheres intersect at a point. If so, use the coordinates of the point as the coordinate position of the object corresponding to the identity code;

[0027] If not, locate the intersection area of ​​the four spheres, label each corner point in the intersection area, obtain the coordinate information of each corner point in the intersection area, and then fit the coordinate information of all corner points, and use the fitted coordinate information as the coordinate position of the object corresponding to the identity code;

[0028] The fitting method of the corner point coordinate information is as follows:

[0029]

[0030] In the above formula, X, Y, and Z represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the object corresponding to the identity code, respectively; N represents the number of corner points in the intersection area; i ,y i 、z i Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the i-th corner point in the intersection area;

[0031] The fitting coordinate point (X, Y, Z) is obtained by the above formula, and the fitting coordinate point is used as the coordinate position of the object corresponding to the identity code.

[0032] As a possible implementation, further, in step S3, based on the position information of the lifting equipment and the obstacle, the operating states of the two are predicted and the safe distance between the lifting equipment and the obstacle is determined; specifically, the following steps are included:

[0033] S3.1: According to the change of the historical coordinate position information of the lifting equipment and the obstacle over time, a motion state model V(t) of the lifting equipment and the obstacle is constructed, wherein the expression of the motion state model V(t) is as follows:

[0034]

[0035] In the above formula, V(t) represents the velocity of the object corresponding to the ID code at time t; x t ,y t 、z t They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target object at time t respectively; t-1 ,y t-1 , Z t-1 They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target object at time t-1 respectively; T represents the time interval from time t to time t-1;

[0036] S3.2: Generate the velocity curve of the lifting equipment and the obstacle over time according to the motion state model V(t), and use the tangent slope of the velocity curve at the current moment as the acceleration a of the lifting equipment and the obstacle at the current moment now ;

[0037] S3.3: define the line connecting the coordinate points of the lifting equipment and the obstacle at the current moment as L, and determine whether the angles formed by the movement directions of the lifting equipment and the obstacle at the current moment and the corresponding line L are both less than 90°;

[0038] If not, the preset distance value Ls is used as the safety distance value Ds at that moment;

[0039] If so, based on the preset time length Ts, the preset distance value Ls, the current speed v of the lifting equipment and the obstacle now , acceleration a now , and the angle between the movement direction of the lifting equipment and the obstacle and the corresponding line L at the current moment, calculate the corrected safety distance Ln, and use the corrected safety distance Ln as the safety distance value Ds at that moment;

[0040] Among them, the expression of corrected safety distance Ln is as follows:

[0041]

[0042] in, They represent the speed of the corresponding obstacle and the lifting equipment at the current moment respectively; They respectively represent the speed of the corresponding obstacle and the lifting equipment after the preset time Ts; α represents the angle between the obstacle's moving direction at the current moment and the corresponding connecting line L; β represents the angle between the lifting equipment's moving direction at the current moment and the corresponding connecting line L;

[0043] in, The expression is as follows:

[0044]

[0045] In the above formula, Indicates the acceleration of the obstacle at the current moment; Indicates the acceleration of the crane at the current moment.

[0046] As a possible implementation, further, in step S4, when the actual distance between the crane equipment and the obstacle is less than the safety distance determined at that moment, an early warning prompt is given; the specific steps are as follows:

[0047] S4.1: Calculate the actual distance S between the obstacle and the crane equipment according to the coordinate information of the obstacle and the crane equipment at the current moment; the expression of the actual distance S is as follows:

[0048]

[0049] in, They respectively represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the corresponding obstacle at the current moment; Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the lifting equipment;

[0050] S4.2: Determine whether the actual distance S between the obstacle and the crane equipment is less than the safety distance value Ds corresponding to the current moment; if so, issue an early warning.

[0051] As a possible implementation, further, in step S2, the distance information of obstacles and lifting equipment collected by each UWB base station is processed using an interactive multi-model Kalman filter algorithm.

[0052] The present invention also provides a crane operation warning system based on TOA positioning, which uses the crane operation warning method based on TOA positioning, and comprises:

[0053] UWB base station, used to obtain real-time distance information of lifting equipment and obstacles;

[0054] The TOA positioning unit is used to obtain the coordinate positions of each obstacle and the lifting equipment in real time based on the distance information of the obstacle and the lifting equipment collected by the UWB base station;

[0055] A state acquisition unit, used to calculate and acquire the running state data of the obstacle and the lifting equipment according to the real-time changes in the coordinate positions of the obstacle and the lifting equipment, the running state data including the running direction, running speed and acceleration;

[0056] A distance acquisition unit, used to acquire the actual distance between the crane equipment and the obstacle according to the coordinate information of the obstacle and the crane equipment;

[0057] A safety distance calculation unit, used to determine the safety distance according to the operating status of the obstacle and the lifting equipment, a preset time and a preset distance value;

[0058] The logic unit is used to determine whether the actual distance between the crane equipment and the obstacle is less than the safety distance determined at that moment. If so, the early warning unit is controlled to issue an early warning prompt;

[0059] The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

[0060] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0061] 1) The present invention provides a crane operation warning method and system based on TOA positioning, which can effectively avoid collision between the lifting equipment and obstacles during operation, and reduce accidents of personnel injuries and equipment damage at the operation site.

[0062] 2) The present invention realizes the positioning of the spatial coordinates of obstacles and lifting equipment based on TOA technology. When there is a deviation in the distance data measured by the UWB base station, the present invention corrects the positioning coordinates through data fitting, thereby effectively improving the accuracy of the coordinate positioning of the obstacles and lifting equipment. In addition, the present invention also adjusts the safety distance in combination with the operating status of the obstacles and lifting equipment, which can effectively reduce the risk of collision between dynamic obstacles and lifting equipment, and is suitable for further promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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.

[0064] Figure 1It is a schematic diagram of a brief implementation process of the crane operation early warning method based on TOA positioning of the present invention;

[0065] Figure 2 This is a schematic diagram of the intersection area of ​​four spheres; (the numbered positions in the figure are the corner points)

[0066] Figure 3 A schematic diagram of the angle between the movement direction of the lifting equipment and the obstacle and the corresponding connecting line L; (the direction of the arrow in the figure indicates the movement direction of the object)

[0067] Figure 4 A schematic diagram of a system implementation structure of a crane operation early warning method based on TOA positioning corresponding to the solution of the present invention;

[0068] Figure 5 A schematic diagram of a computer-readable storage medium provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0070] Refer to the attached Figure 1 As shown, this embodiment provides a crane operation warning method based on TOA positioning, including:

[0071] S1: Responding to the start signal of the lifting equipment, obtaining the distance information between the lifting equipment and obstacles in real time through each UWB base station; specifically including the following steps:

[0072] S1.1: Arrange several UWB base stations on site, and configure corresponding positioning tags on the lifting equipment and obstacles; wherein, the several UWB base stations are arranged in two layers, and the arrangement heights of the UWB base stations on the same layer are the same, that is, the UWB base stations are arranged in two layers.

[0073] S1.2: In response to the start signal of the lifting equipment, the distance information between each base station and the lifting equipment and each obstacle is obtained in real time through each UWB base station; obstacles include on-site workers, objects and equipment; the positioning tags of obstacles and lifting equipment are marked with unique identification codes, and the identity information of obstacles and lifting equipment can be identified through the identification codes. In the specific implementation process, the positioning tags of lifting equipment can be set on the lifting arm, hook and other parts.

[0074] In this embodiment, the interactive multi-model Kalman filter algorithm (IMM-KF) is further used to process the distance information of obstacles and lifting equipment collected by each UWB base station to solve the problem of positioning result jumps and make the positioning result closer to the true value. The interactive multi-model Kalman filter algorithm can significantly reduce the calculation time while ensuring considerable tracking accuracy during operation.

[0075] S2: Based on the distance information of obstacles and lifting equipment collected by each UWB base station, the coordinate positions of each obstacle and lifting equipment are obtained in real time based on TOA positioning technology; specifically, the steps include:

[0076] S2.1: Based on the distance information of each obstacle and the lifting equipment collected by each UWB base station, the distance data sets of the upper and lower layers of UWB base stations regarding each identity code object (i.e., the lifting equipment and obstacles) are constructed respectively; wherein the distance data set of the upper layer UWB base station regarding each identity code object is: at the current moment, the distance data obtained by monitoring the identity code object by different UWB base stations in the upper layer; similarly, the distance data set of the lower layer UWB base station regarding each identity code object is: at the current moment, the distance data obtained by monitoring the identity code object by different UWB base stations in the lower layer.

[0077] S2.2: sort the distance data in the data sets obtained by the upper and lower UWB base stations respectively from small to large; that is, sort the data in the upper distance data set from small to large, and also sort the data in the lower distance data set from small to large.

[0078] According to the preset method, four distance data with smaller sorting in the data set obtained by the upper and lower layers of UWB base stations are selected as feature data, and the spatial coordinate positions of the UWB base stations corresponding to the four distance data are obtained. The specific steps are as follows:

[0079] a): Select the top three distance data (a total of six distance data) from the data sets obtained by the upper and lower UWB base stations, sort them in ascending order, and select the top three distance data

[0080] b): Determine whether the UWB base stations corresponding to the top three distance data are UWB base stations of different layers. If so, use the top four distance data as feature data; if not, determine whether the top three distance data are upper or lower UWB base stations;

[0081] c): If the top three distance data are from the upper layer UWB base station, the top three distance data selected in step a) and the first-ranked distance data in the data set obtained from the lower layer UWB base station are used as feature data;

[0082] If the top three distance data are from the lower UWB base station, the top three distance data selected in step a) and the first distance data in the data set obtained from the upper UWB base station are used as feature data; the spatial coordinate positions of the UWB base stations corresponding to the four distance data are obtained.

[0083] S2.3: According to the spatial coordinate positions and measured distance data of the four UWB base stations, the coordinate positions of the objects corresponding to the identity codes are obtained based on the TOA positioning technology, and then the real-time coordinate positions of the obstacles and the lifting equipment are obtained. The specific steps are as follows:

[0084] With the four selected distance data as the radius and the spatial coordinate position of the UWB base station corresponding to the four distance data as the center, four spatial spheres are established;

[0085] Determine whether the outer surfaces of the four spheres intersect at a point. If so, use the coordinates of the point as the coordinate position of the object corresponding to the identity code;

[0086] If not, locate the common area where the four spheres intersect, and label each corner point in the intersection area (see the attached figure). Figure 2 As shown), and obtain the coordinate information of each corner point in the intersection area, then fit the coordinate information of all corner points, and use the fitted coordinate information as the coordinate position of the object corresponding to the identity code;

[0087] The fitting method of the corner point coordinate information is as follows:

[0088]

[0089] In the above formula, X, Y, and Z represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the object corresponding to the identity code, respectively; N represents the number of corner points in the intersection area; i ,y i 、z i Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the i-th corner point in the intersection area;

[0090] The fitting coordinate point (X, Y, Z) is obtained by the above formula, and the fitting coordinate point is used as the coordinate position of the object corresponding to the identification code. When the distance data measured by the UWB base station has deviations and cannot accurately locate the coordinate position of the object corresponding to the identification code, the positioning coordinates are corrected by the above data fitting method, which can effectively improve the accuracy of the coordinate positioning of obstacles and lifting equipment.

[0091] S3: According to the position information of the lifting equipment and the obstacle, the operating status of the two is predicted and the safe distance between the lifting equipment and the obstacle is determined; specifically, the steps include:

[0092] S3.1: According to the change of the historical coordinate position information of the lifting equipment and the obstacle over time, a motion state model V(t) of the lifting equipment and the obstacle is constructed, wherein the expression of the motion state model V(t) is as follows:

[0093]

[0094] In the above formula, V(t) represents the velocity of the object corresponding to the ID code at time t; x t ,y t 、z t They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target object (i.e., the target obstacle or lifting equipment) at time t respectively; t-1 ,y t-1 , Z t-1 They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target object at time t-1 respectively; T represents the time interval from time t to time t-1.

[0095] S3.2: Generate the velocity curve of the lifting equipment and the obstacle over time according to the motion state model V(t), and use the tangent slope of the velocity curve at the current moment as the acceleration a of the lifting equipment and the obstacle at the current moment now ;

[0096] S3.3: Define the line connecting the coordinate points of the lifting equipment and the obstacle at the current moment as L, and determine whether the angles formed by the movement directions of the lifting equipment and the obstacle at the current moment and the corresponding line L are both less than 90° (if attached Figure 3 shown);

[0097] If not, the preset distance value Ls is used as the safety distance value Ds at that moment; in addition, when the current speed of the lifting equipment and / or the obstacle is 0, the preset distance value Ls is also used as the safety distance value Ds at that moment by default.

[0098] If so, based on the preset time length Ts (Ts is a fixed value, usually set to the braking time of the lifting equipment, such as the time required for the hook to completely stop lifting from the beginning of braking), the preset distance value Ls, the current speed v of the lifting equipment and the obstacle now , acceleration a now , and the angle between the movement direction of the lifting equipment and the obstacle and the corresponding line L at the current moment, calculate the corrected safety distance Ln, and use the corrected safety distance Ln as the safety distance value Ds at that moment;

[0099] Among them, the expression of corrected safety distance Ln is as follows:

[0100]

[0101] in, They represent the speed of the corresponding obstacle and the lifting equipment at the current moment, Calculate using the motion state model V(t) in step S3.1; They respectively represent the speed of the corresponding obstacle and the lifting equipment after the preset time Ts; α represents the angle between the obstacle's moving direction at the current moment and the corresponding connecting line L; β represents the angle between the lifting equipment's moving direction at the current moment and the corresponding connecting line L;

[0102] in, The expression is as follows:

[0103]

[0104] In the above formula, Indicates the acceleration of the obstacle at the current moment; represents the acceleration of the crane at the current moment; Obtained by step S3.2.

[0105] When setting the safety distance, the present invention fully considers the movement directions of the lifting equipment and the obstacle. If the lifting equipment and the obstacle move toward each other (that is, the angles formed by the movement directions of the lifting equipment and the obstacle and the corresponding line L are less than 90), the safety distance is adjusted in combination with the operating status of the obstacle and the lifting equipment. If the lifting equipment and the obstacle do not move toward each other, the preset distance value Ls is used as the safety distance value Ds. The above method can effectively reduce the risk of collision between dynamic obstacles and lifting equipment.

[0106] S4: When the actual distance between the crane and the obstacle is less than the safe distance determined at that moment, an early warning is given. The specific steps are as follows:

[0107] S4.1: Calculate the actual distance S between the obstacle and the crane equipment according to the coordinate information of the obstacle and the crane equipment at the current moment; the expression of the actual distance S is as follows:

[0108]

[0109] in, They respectively represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the corresponding obstacle at the current moment; They respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the corresponding parts of the lifting equipment;

[0110] S4.2: Determine whether the actual distance S between the obstacle and the crane equipment is less than the safety distance value Ds corresponding to the current moment; if so, issue an early warning prompt; the early warning prompt method includes sound, text, image, etc.

[0111] See attached Figure 4 As shown, this embodiment also provides a crane operation warning system based on TOA positioning, which applies the above-mentioned crane operation warning method based on TOA positioning, and includes:

[0112] UWB base station, used to obtain real-time distance information of lifting equipment and obstacles;

[0113] The TOA positioning unit is used to obtain the coordinate positions of each obstacle and the lifting equipment in real time based on the distance information of the obstacle and the lifting equipment collected by the UWB base station;

[0114] A state acquisition unit, used to calculate and acquire the running state data of the obstacle and the lifting equipment according to the real-time changes in the coordinate positions of the obstacle and the lifting equipment, the running state data including the running direction, running speed and acceleration;

[0115] A distance acquisition unit, used to acquire the actual distance between the crane equipment and the obstacle according to the coordinate information of the obstacle and the crane equipment;

[0116] A safety distance calculation unit, used to determine the safety distance according to the operating status of the obstacle and the lifting equipment, a preset time and a preset distance value;

[0117] The logic unit is used to determine whether the actual distance between the crane equipment and the obstacle is less than the safety distance determined at that moment. If so, the early warning unit is controlled to issue an early warning prompt;

[0118] The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

[0119] See attached Figure 5 As shown, an embodiment of the present invention also provides a computer-readable storage medium, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the crane operation warning method based on TOA positioning as described above.

[0120] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0122] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A crane operation early warning method based on TOA positioning, characterized in that: include: S1: respond to the start signal of the lifting equipment, and obtain the distance information of the lifting equipment and obstacles in real time through each UWB base station; S2: Based on the distance information of obstacles and lifting equipment collected by each UWB base station, the coordinate positions of each obstacle and lifting equipment are obtained in real time based on TOA positioning technology; S3: Based on the position information of the lifting equipment and the obstacle, predict the operating status of the two and determine the safe distance between the lifting equipment and the obstacle; S4: When the actual distance between the crane equipment and the obstacle is less than the safe distance determined at that moment, an early warning prompt is issued.

2. The crane operation early warning method based on TOA positioning according to claim 1 is characterized in that: In step S1, in response to the lifting equipment start signal, the distance information between the lifting equipment and the obstacle is obtained in real time through each UWB base station; specifically, the steps include: S1.1: Deploy several UWB base stations on site and configure corresponding positioning tags on the lifting equipment and obstacles; S1.2: respond to the start signal of the lifting equipment, and obtain the distance information between each base station and the lifting equipment and each obstacle in real time through each UWB base station; The obstacles include on-site workers, objects and equipment; the positioning tags of the obstacles and lifting equipment are marked with unique identification codes, and the identity information of the obstacles and lifting equipment can be identified through the identification codes.

3. The crane operation early warning method based on TOA positioning according to claim 2 is characterized in that: Several UWB base stations are arranged in two layers, upper and lower layers, and the UWB base stations on the same layer are arranged at the same height.

4. The crane operation early warning method based on TOA positioning according to claim 3 is characterized in that: In step S2, the distance information of obstacles and lifting equipment collected by each UWB base station is used to obtain the coordinate positions of each obstacle and lifting equipment in real time based on TOA positioning technology, which specifically includes the following steps: S2.1: Based on the distance information between each obstacle and the lifting equipment collected by each UWB base station, the distance data sets of the upper and lower layers of UWB base stations about each identity code object are constructed respectively; S2.2: sorting the distance data in the data sets obtained by the upper and lower layers of UWB base stations from small to large respectively, selecting four distance data with smaller sorting in the data sets obtained by the upper and lower layers of UWB base stations as feature data according to a preset method, and obtaining the spatial coordinate positions of the UWB base stations corresponding to the four distance data; S2.3: According to the spatial coordinate positions of the four UWB base stations and the measured distance data, the coordinate positions of the objects corresponding to the identity codes are obtained based on the TOA positioning technology, and then the real-time coordinate positions of the obstacles and the lifting equipment are obtained.

5. The crane operation early warning method based on TOA positioning according to claim 4 is characterized in that: In step S2.2, four distance data with smaller sorting in the data set obtained by the upper and lower layers of UWB base stations are selected according to a preset method. The specific steps are as follows: a): Select the top three distance data from the data sets obtained by the upper and lower UWB base stations, sort them in ascending order, and select the top three distance data b): Determine whether the UWB base stations corresponding to the top three distance data are UWB base stations of different layers. If so, use the top four distance data as feature data; If not, it is determined that the top three distance data are upper or lower UWB base stations; c): If the top three distance data are from the upper layer UWB base station, the top three distance data selected in step a) and the first-ranked distance data in the data set obtained from the lower layer UWB base station are used as feature data; If the top three distance data are from the lower UWB base station, the top three distance data selected in step a) and the first-ranked distance data in the data set obtained from the upper UWB base station are used as feature data.

6. The crane operation early warning method based on TOA positioning according to claim 4 is characterized in that: In step S2.3, the coordinate position of the object corresponding to the identity code is obtained according to the spatial coordinate position of the four UWB base stations and the measured distance data, and the TOA positioning technology is used to obtain the real-time coordinate position of each obstacle and the lifting equipment. The specific steps are as follows: With the four selected distance data as the radius and the spatial coordinate position of the UWB base station corresponding to the four distance data as the center, four spatial spheres are established; Determine whether the outer surfaces of the four spheres intersect at a point. If so, use the coordinates of the point as the coordinate position of the object corresponding to the identity code; If not, locate the intersection area of ​​the four spheres, label each corner point in the intersection area, obtain the coordinate information of each corner point in the intersection area, and then fit the coordinate information of all corner points, and use the fitted coordinate information as the coordinate position of the object corresponding to the identity code; The fitting method of the corner point coordinate information is as follows: In the above formula, X, Y, and Z represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the object corresponding to the identity code, respectively; N represents the number of corner points in the intersection area; i ,y i 、z i Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the i-th corner point in the intersection area; The fitting coordinate point (X, Y, Z) is obtained by the above formula, and the fitting coordinate point is used as the coordinate position of the object corresponding to the identity code.

7. The crane operation early warning method based on TOA positioning according to claim 2 is characterized in that: In step S3, based on the position information of the lifting equipment and the obstacle, the operating status of the two is predicted and the safe distance between the lifting equipment and the obstacle is determined; the specific steps include: S3.1: According to the change of the historical coordinate position information of the lifting equipment and the obstacle over time, a motion state model V(t) of the lifting equipment and the obstacle is constructed, wherein the expression of the motion state model V(t) is as follows: In the above formula, V(t) represents the velocity of the object corresponding to the ID code at time t; x t ,y t 、z t They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target object at time t respectively; t-1 ,y t-1 、z t-1 They represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the target object at time t-1 respectively; T represents the time interval from time t to time t-1; S3.2: Generate the velocity curve of the lifting equipment and the obstacle over time according to the motion state model V(t), and use the tangent slope of the velocity curve at the current moment as the acceleration a of the lifting equipment and the obstacle at the current moment now ; S3.3: define the line connecting the coordinate points of the lifting equipment and the obstacle at the current moment as L, and determine whether the angles formed by the movement directions of the lifting equipment and the obstacle at the current moment and the corresponding line L are both less than 90°; If not, the preset distance value Ls is used as the safety distance value Ds at that moment; If so, based on the preset time length Ts, the preset distance value Ls, the current speed v of the lifting equipment and the obstacle now , acceleration a now , and the angle between the movement direction of the lifting equipment and the obstacle and the corresponding line L at the current moment, calculate the corrected safety distance Ln, and use the corrected safety distance Ln as the safety distance value Ds at that moment; Among them, the expression of corrected safety distance Ln is as follows: in, They represent the speed of the corresponding obstacle and the lifting equipment at the current moment respectively; They respectively represent the speed of the corresponding obstacle and the lifting equipment after the preset time Ts; α represents the angle between the obstacle's moving direction at the current moment and the corresponding connecting line L; β represents the angle between the lifting equipment's moving direction at the current moment and the corresponding connecting line L; in, The expression is as follows: In the above formula, Indicates the acceleration of the obstacle at the current moment; Indicates the acceleration of the crane at the current moment.

8. The crane operation early warning method based on TOA positioning according to claim 7 is characterized in that: In step S4, when the actual distance between the crane equipment and the obstacle is less than the safety distance determined at that moment, an early warning prompt is given; the specific steps are as follows: S4.1: Calculate the actual distance S between the obstacle and the crane equipment according to the coordinate information of the obstacle and the crane equipment at the current moment; the expression of the actual distance S is as follows: in, They respectively represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the corresponding obstacle at the current moment; Respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the lifting equipment; S4.2: Determine whether the actual distance S between the obstacle and the crane equipment is less than the safety distance value Ds corresponding to the current moment; if so, issue an early warning.

9. The crane operation early warning method based on TOA positioning according to claim 1 is characterized in that: In step S2, the interactive multi-model Kalman filter algorithm is used to process the distance information of obstacles and lifting equipment collected by each UWB base station.

10. A crane operation warning system based on TOA positioning, characterized in that: The crane operation early warning method based on TOA positioning as claimed in any one of claims 1 to 9 is applied, comprising: UWB base station, used to obtain real-time distance information of lifting equipment and obstacles; The TOA positioning unit is used to obtain the coordinate positions of each obstacle and the lifting equipment in real time based on the distance information of the obstacle and the lifting equipment collected by the UWB base station; A state acquisition unit, used to calculate and acquire the running state data of the obstacle and the lifting equipment according to the real-time changes in the coordinate positions of the obstacle and the lifting equipment, the running state data including the running direction, running speed and acceleration; A distance acquisition unit, used to acquire the actual distance between the crane equipment and the obstacle according to the coordinate information of the obstacle and the crane equipment; A safety distance calculation unit, used to determine the safety distance according to the operating status of the obstacle and the lifting equipment, a preset time and a preset distance value; The logic unit is used to determine whether the actual distance between the crane equipment and the obstacle is less than the safety distance determined at that moment. If so, the early warning unit is controlled to issue an early warning prompt; The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

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