Crane collision early warning method and system based on Beidou positioning

Abstract

The invention discloses a crane collision early warning method and system based on Beidou positioning, and the method comprises the steps: S1, employing the Beidou positioning technology, and obtaining the real-time position information of a crane and obstacles in the surrounding environment; s2, constructing a three-dimensional motion model of the crane and the obstacles according to the real-time position information of the crane and the obstacles in the surrounding environment; s3, according to historical coordinate position information of the crane and obstacles in the surrounding environment in the three-dimensional motion model, a pre-judgment distance value between the crane and the obstacles is determined; and S4, when the pre-judged distance value between the crane and the obstacle is smaller than the pre-warning distance value, corresponding pre-warning prompt is carried out. The position information of the crane and the obstacle is acquired in real time through Beidou positioning, and the position of the target object is predicted in combination with the historical position information, so that the collision accident of the crane can be effectively avoided, the anti-collision safety of the crane is improved, and the method is suitable for further popularization and application.

Description

Technical Field

[0001] The present invention belongs to the technical field of cranes, and in particular relates to a crane collision warning method and system based on Beidou positioning. Background Art

[0002] In complex field operation areas, large cranes are operated crosswise, especially some boom cranes that have vertical, rotational, and pitching movements. It is difficult to completely avoid collision accidents relying solely on the operator's own skills. Crane collision accidents in shipbuilding companies, port terminals, petrochemical bases, important construction sites, etc. often cause huge economic losses and casualties. Many companies are paying more and more attention to production safety and minimizing potential risks. Therefore, collision monitoring and early warning during crane operation are particularly important.

[0003] Based on this, the purpose of the present invention is to provide a crane collision warning method and system based on Beidou positioning, so as to effectively avoid crane collision accidents and improve the anti-collision safety of the crane. Summary of the invention

[0004] To solve the above problems, the present invention provides a crane collision warning method and system based on Beidou positioning. The position information of the crane and obstacles is acquired in real time through Beidou positioning, and the position of the target object is predicted in combination with the historical position information. This can effectively avoid crane collision accidents and improve the anti-collision safety of the crane.

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

[0006] S1: Use Beidou positioning technology to obtain real-time location information of the crane and obstacles in the surrounding environment;

[0007] S2: Construct a three-dimensional motion model of the crane and obstacles based on the real-time position information of the crane and obstacles in the surrounding environment;

[0008] S3: Determine the predicted distance value between the crane and the obstacle based on the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model;

[0009] S4: When the predicted distance between the crane and the obstacle is less than the warning distance, a corresponding warning prompt is given.

[0010] As a possible implementation method, further, in step S1, by arranging ground differential base stations at the construction site, setting positioning antennas at the target position of the crane and the target obstacle, and setting a different ID number for each positioning antenna, the real-time acquisition of the position information of the crane and the target obstacle is achieved through the Beidou positioning technology.

[0011] As a possible implementation manner, further, the positioning antenna in the crane is arranged on the lifting arm, the balance arm, the hook and the suspended object.

[0012] As a possible implementation, further, in step S2, a three-dimensional motion model of the crane and the obstacles is constructed according to the real-time position information of the crane and the obstacles in the surrounding environment; specifically, the steps include:

[0013] S2.1: Build a 3D digital twin model corresponding to the crane construction site;

[0014] S2.2: Construct the X-axis and Y-axis at the ground in the model, with the vertical axis being the Z-axis, to establish a three-dimensional coordinate system;

[0015] S2.3: According to the real-time position information of the crane and obstacles in the surrounding environment, the corresponding digital simulation of the crane and each obstacle is constructed into the three-dimensional digital twin model, and the coordinate position of the crane and each obstacle in the three-dimensional coordinate system constructed by the three-dimensional digital twin model is obtained in real time. As a possible implementation method, further, in step S3, according to the historical coordinate position information of the crane and obstacles in the surrounding environment in the three-dimensional motion model, the predicted distance value between the crane and the obstacle is determined, including the following steps:

[0016] S3.1: Based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, predict the coordinate positions of the crane and the obstacle after a preset time period;

[0017] S3.2: Based on the coordinate positions of the crane and each obstacle after the preset time, calculate the predicted distance value L between different parts of the crane and each obstacle after the preset time ij , calculated as follows:

[0018]

[0019] In the above formula, They respectively represent the predicted values ​​of the x-axis coordinates, y-axis coordinates, and z-axis coordinates of different obstacles after a preset time, and i represents the ID number corresponding to different obstacles; They respectively represent the predicted values ​​of the x-axis coordinates, y-axis coordinates and z-axis coordinates corresponding to different parts of the crane after the preset time, and j represents the ID number corresponding to different parts of the crane.

[0020] As a possible implementation method, further, in S3.1, based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, the coordinate positions of the crane and the obstacle after a preset time are predicted; specifically, the following steps are included:

[0021] S3.11: Generate, based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, an xt curve of the x-axis coordinates of the crane and each obstacle changing with time, a yt curve of the y-axis coordinates changing with time, and a zt curve of the z-axis coordinates changing with time;

[0022] S3.12: The tangent slopes of the xt curve, yt curve and zt curve at the current moment are respectively used as the x-axis coordinate change coefficient, y-axis coordinate change coefficient and z-axis coordinate change coefficient of the corresponding crane or obstacle at the current moment;

[0023] S3.13: Calculate the coordinate positions of the crane and each obstacle after a preset time period by combining the current coordinate positions of the crane and each obstacle in the three-dimensional digital twin model and the x-axis coordinate change coefficient, y-axis coordinate change coefficient, and z-axis coordinate change coefficient at the current moment;

[0024] The coordinate positions of different parts of the crane after the preset time are The coordinates of each axis are calculated as follows:

[0025]

[0026] in, They respectively represent the x-axis coordinates, y-axis coordinates and z-axis coordinates of different parts of the crane at the current moment; Indicates the x-axis coordinate change coefficient of different parts of the crane at the current moment, Indicates the y-axis coordinate change coefficient of different parts of the crane at the current moment, Indicates the z-axis coordinate change coefficient of different parts of the crane at the current moment; It indicates the braking time corresponding to different parts of the crane when the crane is at maximum load and maximum operating speed; j indicates the ID number corresponding to different parts of the crane;

[0027] When performing collision warning monitoring between obstacles and corresponding parts of the crane, the preset time length T corresponding to the obstacle q It is equal to the braking time of the corresponding part of the crane when the crane is at maximum load and maximum operating speed;

[0028] The coordinate position of each obstacle after the preset time is The coordinates of each axis are calculated as follows:

[0029]

[0030] in, Respectively represent the x-axis coordinates, y-axis coordinates, and z-axis coordinates of different obstacles at the current moment; Indicates the x-axis coordinate change coefficient of different obstacles at the current moment. Indicates the y-axis coordinate change coefficient of different obstacles at the current moment. It represents the z-axis coordinate change coefficient of different obstacles at the current moment; i represents the ID number corresponding to different obstacles.

[0031] As a possible implementation, further, in step S4, when the predicted distance value between the crane and the obstacle is less than the warning distance value, a corresponding warning prompt is performed, which specifically includes the following steps:

[0032] S4.1: When the predicted distance value L between different parts of the crane and each obstacle ij When there is a situation that is less than the preset warning distance value S, all predicted distance values ​​L that are less than the preset warning distance value S are filtered out. ij , and according to the predicted distance value L ij Locate the corresponding crane parts and obstacles;

[0033] S4.2: Provide collision warning prompts for corresponding parts of the crane based on the crane parts that have been screened and located.

[0034] As a possible implementation, further, step S4 further includes:

[0035] The same predicted distance value L ij The corresponding crane parts are associated with obstacles;

[0036] Obtaining the position information of the obstacle compared to the associated crane part at the current moment among the associated crane parts and obstacles;

[0037] When a collision warning is given, the location information of the obstacle at the current moment compared to the associated crane part will be given simultaneously.

[0038] Based on the above, the present invention also provides a crane collision warning system based on Beidou positioning, which applies the crane collision warning method based on Beidou positioning. The system includes:

[0039] Positioning antennas are placed at target locations on the crane and target obstacles;

[0040] Ground differential base station, layout of construction site;

[0041] Beidou positioning unit, used to obtain real-time location information of the crane and obstacles in the surrounding environment through Beidou positioning technology;

[0042] A three-dimensional modeling unit, used to construct a three-dimensional motion model of the crane and obstacles based on the real-time position information of the crane and obstacles in the surrounding environment;

[0043] A prediction unit, used to predict the coordinate positions of the crane and the obstacles after a preset time period based on the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model;

[0044] A predicted distance calculation unit is used to calculate the distance value between the coordinate positions of the crane and the obstacle after a preset time period;

[0045] The logic unit is used to issue a corresponding warning prompt through the warning unit when the predicted distance value between the crane and the obstacle is less than the warning distance value;

[0046] The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

[0047] 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. The at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned Beidou positioning-based crane collision warning method.

[0048] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0049] The present invention provides a crane collision warning method and system based on Beidou positioning, which utilizes Beidou positioning technology to achieve real-time acquisition of the position information of the crane and each obstacle, and predicts the position coordinates of the crane and each obstacle after a preset period of time through the historical position information of the crane and each obstacle, and then issues a warning prompt based on the predicted position coordinates. This advance prediction method can reserve sufficient reaction time for the crane operator, effectively avoid crane collision accidents, and improve the crane's anti-collision safety. In addition, when issuing a warning prompt, by prompting the position information of the obstacle compared to the related crane parts, it is beneficial for the operator to make avoidance operations in advance, further reducing the risk of crane collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 It is a schematic diagram of a brief implementation process of the crane collision warning method based on Beidou positioning of the present invention;

[0052] Figure 2 A schematic diagram of a system implementation structure of a crane collision warning method based on Beidou positioning corresponding to the solution of the present invention;

[0053] Figure 3 A schematic diagram of a computer-readable storage medium provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0054] 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.

[0055] Example 1

[0056] See attached Figure 1 As shown, this embodiment provides a crane collision warning method based on Beidou positioning, including:

[0057] S1: Use Beidou positioning technology to obtain real-time location information of the crane and obstacles in the surrounding environment. In this embodiment, by arranging a ground differential base station at a higher fixed place on the construction site, setting a positioning antenna at the target part of the crane and the target obstacle, and setting a different ID number for each positioning antenna, the real-time acquisition of the location information of the crane and the target obstacle is achieved through Beidou positioning technology.

[0058] In this embodiment, the positioning antennas in the crane are arranged on the boom, the balancing arm, the hook and the suspended object. The ID numbers of the positioning antennas on the boom, the balancing arm, the hook and the suspended object are respectively: q1, q2, q3, q4; the ID numbers of the positioning antennas on the obstacles in the surrounding environment are respectively: z1, z2, z3, ..., zn. The positioning object can be identified by the ID number on the positioning antenna.

[0059] In this embodiment, the quantities selected in the Beidou positioning process are the inter-station single-difference pseudorange and phase observation values ​​of each visible satellite, and the corresponding estimated parameters are the receiver's three-dimensional absolute position, three-dimensional velocity (dynamic), pseudorange receiver clock error, phase receiver clock error, receiver clock drift, and single-difference ambiguity. The user end adopts an inter-station differential correction model and a dual clock error method to restore the integer cycle characteristics of the ambiguity, and outputs a high-precision positioning result through the integer least squares decorrelation (LABMDA) ambiguity fixing algorithm.

[0060] S2: Based on the real-time position information of the crane and obstacles in the surrounding environment, a three-dimensional motion model of the crane and obstacles is constructed; specifically, the steps include:

[0061] S2.1: Build a 3D digital twin model corresponding to the crane construction site;

[0062] S2.2: Construct the X-axis and Y-axis at the ground in the model, with the vertical axis being the Z-axis, to establish a three-dimensional coordinate system;

[0063] S2.3: Based on the real-time position information of the crane and obstacles in the surrounding environment (i.e., the position information in the world coordinate system obtained by Beidou positioning), the corresponding digital simulation of the crane and each obstacle is constructed into the three-dimensional digital twin model, and the coordinate positions of the crane and each obstacle in the three-dimensional coordinate system constructed by the three-dimensional digital twin model are obtained in real time. The position information in the world coordinate system and the coordinate position in the three-dimensional coordinate system are converted by scaling, translation, etc.

[0064] S3: Determine the predicted distance value between the crane and the obstacle according to the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model; comprising the following steps:

[0065] S3.1: Based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, predict the coordinate positions of the crane and the obstacle after a preset time period; specifically, the steps include:

[0066] S3.11: Generate, based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, an xt curve of the x-axis coordinates of the crane and each obstacle changing with time, a yt curve of the y-axis coordinates changing with time, and a zt curve of the z-axis coordinates changing with time;

[0067] S3.12: The tangent slopes of the xt curve, yt curve and zt curve at the current moment are respectively used as the x-axis coordinate change coefficient, y-axis coordinate change coefficient and z-axis coordinate change coefficient of the corresponding crane or obstacle at the current moment;

[0068] S3.13: Calculate the coordinate positions of the crane and each obstacle after a preset time period by combining the current coordinate positions of the crane and each obstacle in the three-dimensional digital twin model and the x-axis coordinate change coefficient, y-axis coordinate change coefficient, and z-axis coordinate change coefficient at the current moment;

[0069] The coordinate positions of different parts of the crane (boom, counter-arm, hook, suspended object) after the preset time are The coordinates of each axis are calculated as follows:

[0070]

[0071]

[0072] in, They respectively represent the x-axis coordinates, y-axis coordinates and z-axis coordinates of different parts of the crane at the current moment; Indicates the x-axis coordinate change coefficient of different parts of the crane at the current moment, Indicates the y-axis coordinate change coefficient of different parts of the crane at the current moment, Indicates the z-axis coordinate change coefficient of different parts of the crane at the current moment; It indicates the braking time corresponding to different parts of the crane when the crane is at maximum load and maximum operating speed (braking time, i.e. the time required to stop completely from a moving state; the braking time corresponding to different parts of the crane is obtained through experiments); j indicates the ID number corresponding to different parts of the crane.

[0073] For ease of understanding, an example is given here to illustrate. Take the crane hook as an example. The ID number of the positioning antenna on the crane hook is q3. The coordinate position of the crane hook after the preset time is The coordinates of each axis are calculated as follows:

[0074]

[0075] in, They respectively represent the x-axis coordinate, y-axis coordinate and z-axis coordinate of the crane hook at the current moment; Indicates the x-axis coordinate change coefficient of the crane hook at the current moment. Indicates the y-axis coordinate change coefficient of the crane hook at the current moment. Indicates the z-axis coordinate change coefficient of the crane hook at the current moment; It indicates the braking time corresponding to the crane hook when the crane is at maximum load and maximum operating speed. Indicates the coordinate position of the crane boom after a preset time; They respectively represent the x-axis coordinate change coefficient, y-axis coordinate change coefficient and z-axis coordinate change coefficient of the crane arm at the current moment; It indicates the braking time corresponding to the crane boom when the crane is at maximum load and maximum operating speed; and so on.

[0076] The coordinate position of each obstacle after the preset time is The coordinates of each axis are calculated as follows:

[0077]

[0078] in, Respectively represent the x-axis coordinates, y-axis coordinates, and z-axis coordinates of different obstacles at the current moment; Indicates the x-axis coordinate change coefficient of different obstacles at the current moment. Indicates the y-axis coordinate change coefficient of different obstacles at the current moment. It represents the z-axis coordinate change coefficient of different obstacles at the current moment; i represents the ID number corresponding to different obstacles.

[0079] For ease of understanding, an example is given here to illustrate. Taking the obstacle with ID number z1 on the positioning antenna as an example, the coordinate position of the obstacle after the preset time length is The coordinates of each axis are calculated as follows:

[0080]

[0081] in, They respectively represent the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the obstacle with ID number z1 on the positioning antenna at the current moment; Indicates the x-axis coordinate change coefficient of the obstacle with ID number z1 on the positioning antenna at the current moment. Indicates the y-axis coordinate change coefficient of the obstacle with ID number z1 on the positioning antenna at the current moment. Indicates the z-axis coordinate change coefficient of the obstacle with ID number z1 on the positioning antenna at the current moment. Similarly, Indicates the coordinate position of the obstacle with ID number z2 on the positioning antenna after the preset time; They respectively represent the x-axis coordinate change coefficient, y-axis coordinate change coefficient and z-axis coordinate change coefficient of the obstacle with ID number z2 on the positioning antenna at the current moment; and so on.

[0082] When performing collision warning monitoring between obstacles and corresponding parts of the crane, the preset time length T corresponding to the obstacle qIt is equal to the braking time of the corresponding part of the crane under the condition of the maximum load and maximum operating speed of the crane. For example: when performing collision warning monitoring between the crane hook and the obstacle with ID number z1 on the positioning antenna, the preset time T corresponding to the obstacle with ID number z1 on the positioning antenna is q Equal to the braking time of the crane hook at the maximum load and maximum operating speed of the crane That is, the preset duration corresponding to the obstacle with ID number z1 on the positioning antenna Similarly, when performing collision warning monitoring between the crane boom and the obstacle with ID number z1 on the positioning antenna, the preset time length corresponding to the obstacle with ID number z1 on the positioning antenna is And so on.

[0083] S3.2: Based on the coordinate positions of the crane and each obstacle after the preset time, calculate the predicted distance value L between different parts of the crane and each obstacle after the preset time ij , calculated as follows:

[0084]

[0085] In the above formula, They respectively represent the predicted values ​​of the x-axis coordinates, y-axis coordinates, and z-axis coordinates of different obstacles after a preset time, and i represents the ID number corresponding to different obstacles; Respectively represent the predicted values ​​of the x-axis coordinates, y-axis coordinates and z-axis coordinates corresponding to different parts of the crane after the preset time, and j represents the ID number corresponding to different parts of the crane. For example: the predicted distance value between the crane boom part (corresponding to the positioning antenna number q1) and the obstacle with the ID number z1 on the positioning antenna is:

[0086]

[0087] For another example, the predicted distance between the crane hook (corresponding to the positioning antenna number q3) and the obstacle with the ID number z1 on the positioning antenna is:

[0088]

[0089] And so on.

[0090] S4: When the predicted distance between the crane and the obstacle is less than the warning distance, a corresponding warning prompt is given; specifically, the following steps are included:

[0091] S4.1: When the predicted distance value L between different parts of the crane and each obstacle ijWhen there is a situation that is less than the preset warning distance value S, all predicted distance values ​​L that are less than the preset warning distance value S are screened out. ij , and according to the predicted distance value L ij Locate the corresponding crane parts and obstacles.

[0092] S4.2: Provide collision warning prompts for corresponding parts of the crane based on the crane parts that have been screened and located.

[0093] For ease of understanding, an example is given here to illustrate, for example: At this time L z1q1 If it is less than the preset warning distance value S, then filter out L z1q1 ; According to the predicted distance value L z1q1 Can locate and predict the distance value L z1q1 The two corresponding objects are the crane boom and the obstacle with ID number z1 on the positioning antenna. When the warning is issued, it reminds the crane boom that a collision is about to occur, so that the operator can make timely adjustment measures to avoid the collision accident of the crane boom. z1q3 When it is less than the preset warning distance value S, it indicates that the crane hook is about to collide.

[0094] This embodiment uses Beidou positioning technology to achieve real-time acquisition of the position information of the crane and each obstacle, and predicts the position coordinates of the crane and each obstacle after a preset period of time through the historical position information of the crane and each obstacle, and then issues an early warning based on the predicted position coordinates. This advance prediction method can reserve sufficient reaction time for the crane operator, effectively avoid crane collision accidents, and improve the crane's anti-collision safety.

[0095] In this embodiment, step S4 further includes:

[0096] The same predicted distance value L ij The corresponding crane parts are associated with obstacles; the position information of the obstacle at the current moment compared with the associated crane parts is obtained among the associated crane parts and obstacles (usually positioned in the form of east, south, west and north); when a collision warning is prompted, the position information of the obstacle at the current moment compared with the associated crane parts is prompted at the same time.

[0097] To predict the distance value L z1q1For example, the crane boom is associated with the obstacle with ID number z1 on the positioning antenna. The position information of the obstacle with ID number z1 on the positioning antenna at the current moment compared to the crane boom is obtained. For example, the obstacle with ID number z1 on the positioning antenna is located in the southeast direction of the crane boom; when the collision warning is prompted, it is also prompted that the obstacle is located in the southeast direction of the crane boom. By prompting the position information of the obstacle compared to the associated crane part, it is helpful for the operator to make avoidance operations in advance, further reducing the risk of collision with the crane.

[0098] Example 2

[0099] See attached Figure 2 As shown, this embodiment also provides a crane collision warning system based on Beidou positioning, which applies the crane collision warning method based on Beidou positioning in Example 1. The system includes:

[0100] Positioning antennas are placed at target locations on the crane and target obstacles;

[0101] Ground differential base station, layout of construction site;

[0102] Beidou positioning unit, used to obtain real-time location information of the crane and obstacles in the surrounding environment through Beidou positioning technology;

[0103] A three-dimensional modeling unit, used to construct a three-dimensional motion model of the crane and obstacles based on the real-time position information of the crane and obstacles in the surrounding environment;

[0104] A prediction unit, used to predict the coordinate positions of the crane and the obstacles after a preset time period based on the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model;

[0105] A predicted distance calculation unit is used to calculate the distance value between the coordinate positions of the crane and the obstacle after a preset time period;

[0106] The logic unit is used to issue a corresponding warning prompt through the warning unit when the predicted distance value between the crane and the obstacle is less than the warning distance value;

[0107] The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

[0108] Example 3

[0109] See attached Figure 3As shown, based on the same inventive concept, this embodiment provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the crane collision warning method based on Beidou positioning as described in Example 1.

[0110] In the specific implementation process, computer-readable storage media include: Universal Serial Bus flash drive (USB), mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other storage media that can store program codes.

[0111] The device embodiments described above are merely illustrative, wherein the units / modules described as separate components may or may not be physically separated, and the components displayed as units / modules may or may not be physical units / modules, i.e., they may be located in one place, or they may be distributed over multiple network units / modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0113] 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 collision warning method based on Beidou positioning, characterized in that: include: S1: Use Beidou positioning technology to obtain real-time location information of the crane and obstacles in the surrounding environment; S2: Construct a three-dimensional motion model of the crane and obstacles based on the real-time position information of the crane and obstacles in the surrounding environment; S3: Determine the predicted distance value between the crane and the obstacle based on the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model; S4: When the predicted distance between the crane and the obstacle is less than the warning distance, a corresponding warning prompt is given.

2. The crane collision warning method based on Beidou positioning according to claim 1 is characterized in that: In step S1, ground differential base stations are arranged at the construction site, positioning antennas are set at the target position of the crane and the target obstacle, and different ID numbers are set for each positioning antenna. Real-time acquisition of the position information of the crane and the target obstacle is achieved through Beidou positioning technology.

3. The crane collision warning method based on Beidou positioning according to claim 2 is characterized in that: The positioning antennas in the crane are arranged on the lifting arm, the balancing arm, the hook and the suspended object.

4. The crane collision warning method based on Beidou positioning according to claim 1 is characterized in that: In step S2, a three-dimensional motion model of the crane and obstacles is constructed according to the real-time position information of the crane and obstacles in the surrounding environment; the steps specifically include the following: S2.1: Build a 3D digital twin model corresponding to the crane construction site; S2.2: Construct the X-axis and Y-axis at the ground in the model, with the vertical axis being the Z-axis, to establish a three-dimensional coordinate system; S2.3: Based on the real-time position information of the crane and obstacles in the surrounding environment, the corresponding digital simulation of the crane and each obstacle is constructed into the three-dimensional digital twin model, and the coordinate positions of the crane and each obstacle in the three-dimensional coordinate system constructed by the three-dimensional digital twin model are obtained in real time.

5. The crane collision warning method based on Beidou positioning according to claim 3 is characterized in that: In step S3, the predicted distance value between the crane and the obstacle is determined according to the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model, including the following steps: S3.1: Based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, predict the coordinate positions of the crane and the obstacle after a preset time period; S3.2: Based on the coordinate positions of the crane and each obstacle after the preset time, calculate the predicted distance value L between different parts of the crane and each obstacle after the preset time ij , calculated as follows: In the above formula, They respectively represent the predicted values ​​of the x-axis coordinates, y-axis coordinates, and z-axis coordinates of different obstacles after a preset time, and i represents the ID number corresponding to different obstacles; They respectively represent the predicted values ​​of the x-axis coordinates, y-axis coordinates and z-axis coordinates corresponding to different parts of the crane after the preset time, and j represents the ID number corresponding to different parts of the crane.

6. The crane collision warning method based on Beidou positioning according to claim 5 is characterized in that: S3.1 predicts the coordinate positions of the crane and the obstacles after a preset time period based on the historical coordinate positions of the crane and the obstacles in the three-dimensional coordinate system in the three-dimensional digital twin model; specifically, the following steps are included: S3.11: Generate, based on the historical coordinate positions of the crane and each obstacle in the three-dimensional coordinate system in the three-dimensional digital twin model, an xt curve of the x-axis coordinates of the crane and each obstacle changing with time, a yt curve of the y-axis coordinates changing with time, and a zt curve of the z-axis coordinates changing with time; S3.12: The tangent slopes of the xt curve, yt curve and zt curve at the current moment are respectively used as the x-axis coordinate change coefficient, y-axis coordinate change coefficient and z-axis coordinate change coefficient of the corresponding crane or obstacle at the current moment; S3.13: Calculate the coordinate positions of the crane and each obstacle after a preset time period by combining the current coordinate positions of the crane and each obstacle in the three-dimensional digital twin model and the x-axis coordinate change coefficient, y-axis coordinate change coefficient, and z-axis coordinate change coefficient at the current moment; The coordinate positions of different parts of the crane after the preset time are The coordinates of each axis are calculated as follows: in, They respectively represent the x-axis coordinates, y-axis coordinates and z-axis coordinates of different parts of the crane at the current moment; Indicates the x-axis coordinate change coefficient of different parts of the crane at the current moment, Indicates the y-axis coordinate change coefficient of different parts of the crane at the current moment, Indicates the z-axis coordinate change coefficient of different parts of the crane at the current moment; It indicates the braking time corresponding to different parts of the crane when the crane is at maximum load and maximum operating speed; j indicates the ID number corresponding to different parts of the crane; When performing collision warning monitoring between obstacles and corresponding parts of the crane, the preset time length T corresponding to the obstacle q It is equal to the braking time of the corresponding part of the crane when the crane is at maximum load and maximum operating speed; The coordinate position of each obstacle after the preset time is The coordinates of each axis are calculated as follows: in, Respectively represent the x-axis coordinates, y-axis coordinates, and z-axis coordinates of different obstacles at the current moment; Indicates the x-axis coordinate change coefficient of different obstacles at the current moment. Indicates the y-axis coordinate change coefficient of different obstacles at the current moment. It represents the z-axis coordinate change coefficient of different obstacles at the current moment; i represents the ID number corresponding to different obstacles.

7. The crane collision warning method based on Beidou positioning according to claim 6 is characterized in that: In step S4, when the predicted distance value between the crane and the obstacle is less than the warning distance value, a corresponding warning prompt is given, which specifically includes the following steps: S4.1: When the predicted distance value L between different parts of the crane and each obstacle ij When there is a situation that is less than the preset warning distance value S, all predicted distance values ​​L that are less than the preset warning distance value S are filtered out. ij , and according to the predicted distance value L ij Locate the corresponding crane parts and obstacles; S4.2: Provide collision warning prompts for corresponding parts of the crane based on the crane parts that have been screened and located.

8. The crane collision warning method based on Beidou positioning according to claim 7 is characterized in that: Step S4 also includes: The same predicted distance value L ij The corresponding crane parts are associated with obstacles; Obtaining the position information of the obstacle compared to the associated crane part at the current moment among the associated crane parts and obstacles; When a collision warning is given, the location information of the obstacle at the current moment compared to the associated crane part will be given simultaneously.

9. A crane collision warning system based on Beidou positioning, characterized in that: The application is the crane collision warning method based on Beidou positioning as described in any one of claims 1 to 8, and the system includes: Positioning antennas are placed at target locations on the crane and target obstacles; Ground differential base station, layout of construction site; Beidou positioning unit, used to obtain real-time location information of the crane and obstacles in the surrounding environment through Beidou positioning technology; A three-dimensional modeling unit, used to construct a three-dimensional motion model of the crane and obstacles based on the real-time position information of the crane and obstacles in the surrounding environment; A prediction unit, used to predict the coordinate positions of the crane and the obstacles after a preset time period based on the historical coordinate position information of the crane and the obstacles in the surrounding environment in the three-dimensional motion model; A predicted distance calculation unit is used to calculate the distance value between the coordinate positions of the crane and the obstacle after a preset time period; The logic unit is used to issue a corresponding warning prompt through the warning unit when the predicted distance value between the crane and the obstacle is less than the warning distance value; The early warning unit is used to send out early warning information in the form of sound and / or text and / or image.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a crane collision warning method based on Beidou positioning as described in any one of claims 1 to 8 is implemented.

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