Intelligent three-dimensional positioning method and system for hoisting of tower crane

Abstract

The invention discloses an intelligent three-dimensional positioning method and system for hoisting of a tower crane. The method comprises the steps that a positioning base station reads a positioning label to determine the distance between a tower body and a moving trolley on a tower arm and the distance between the tower body and a lifting hook; the inclination angle of the tower arm relative to the horizontal plane is monitored through a posture monitoring device; identifying the positions of the hoisted object, the reference label and the center of the tower crane foundation through an image acquisition device; a data processing device is used for calculating the distance between a lifted object connected with a lifting hook and the ground in real time to serve as a real-time height coordinate of the lifted object, and an image acquisition device is used for recognizing the transverse distance x1 and the longitudinal distance y1 of the lifted object in a plane-coordinate system to determine a real-time image plane coordinate of the lifted object; and the data processing device performs three-dimensional intelligent positioning on the hoisted object according to the real-time height coordinates and the real-time image plane coordinates of the hoisted object. The positioning device is high in positioning precision and safety when the hoisted object is lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to an intelligent three-dimensional positioning method and system for tower crane hoisting. Background Art

[0002] Tower cranes are commonly used vertical transportation machinery in construction, responsible for the vertical transportation of equipment, components and other hoisted objects. At present, tower crane hoisting operations are usually controlled by tower crane operators in the cockpit, and ground commanders direct tower crane operators to perform operations through pagers. The lowering position of the hoisted object is usually visually observed by ground operators or determined by tower crane operators based on experience. It is difficult to accurately determine whether the hoisting position of the object has reached the specified position, which leads to hoisting deviations and safety hazards during the hoisting and lowering process. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent three-dimensional positioning method and system for tower crane hoisting, so as to solve the problem that it is difficult to monitor the hoisting position of the hoisted object when the tower crane hoists the object.

[0004] In order to solve the above technical problems, the present invention provides a technical solution: an intelligent three-dimensional positioning method for tower crane hoisting, comprising:

[0005] A positioning base station and two positioning tags are used. The positioning base station is installed at the top center of the tower crane, and the two positioning tags are installed on the moving trolley on the tower arm of the tower crane and on the hook of the tower crane respectively; the distance between the tower body and the moving trolley on the tower arm and the distance between the tower body and the hook are determined by reading the signals of the two positioning tags by the positioning base station;

[0006] A posture monitoring device is used and installed on the tower arm of the tower crane. The posture monitoring device includes a tilt sensor, which monitors the tilt angle of the tower arm relative to the horizontal plane.

[0007] A data processing device is used and placed or installed in the cockpit of the tower crane. The data processing device calculates the height of the moving trolley on the tower arm relative to the ground according to formula (1), calculates the length of the lifting rope between the moving trolley on the tower arm and the hook according to formula (2), and calculates the distance between the lifting object connected to the hook and the ground according to formula (3);

[0008] H4=H+L1×sinα (1);

[0009] In formula (1), H4 is the height from the moving trolley on the tower arm to the ground, H is the height from the tower body to the ground, L1 is the distance from the tower body to the moving trolley on the tower arm, and α is the inclination angle of the tower arm relative to the horizontal plane;

[0010]

[0011] In formula (2), H3 is the length of the rope between the moving trolley on the tower arm and the hook, L1 is the distance between the tower body and the moving trolley on the tower arm, α is the inclination angle of the tower arm relative to the horizontal plane, and L2 is the distance between the tower body and the hook;

[0012] H1=H4-H3-H2 (3);

[0013] In formula (3), H1 is the distance between the hoisted object and the ground, H3 is the length of the rope between the moving trolley on the tower arm and the hook, and H2 is the distance between the positioning tag at the hook and the lower surface of the hoisted object, which are known parameters;

[0014] The data processing device determines the real-time height coordinate of the hoisted object connected to the hook of the tower crane according to formula (3);

[0015] At least two reference tags are used, and the two reference tags are arranged perpendicularly to each other with a predetermined distance as a radius, taking the center of the tower crane foundation as the origin;

[0016] An image acquisition device is used, and the image acquisition device is installed below the moving trolley on the tower arm of the tower crane to identify the plane coordinates of the hoisted object and its lowered position on the ground, the reference label and the position of the center of the tower crane foundation;

[0017] The data processing device establishes a plane coordinate system with the center of the tower crane foundation as the origin and the line connecting the origin and the vertically arranged reference tags as the horizontal axis and the vertical axis. The data processing device identifies the horizontal distance x1 and the vertical distance y1 of the hoisted object relative to the origin in the plane coordinate system through the image acquisition device to determine the real-time image plane coordinates of the hoisted object;

[0018] The data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time image plane coordinates of the hoisted object.

[0019] Furthermore, in the tower crane intelligent three-dimensional positioning method provided by the present invention, the data processing device also identifies the distance from the origin to the reference tag as d through the image acquisition device. i The actual distance from the origin to the reference tag measured by the measuring tool at the construction site is D i , according to formula (4) and formula (5), determine the real-time actual plane coordinates of the hoisted object at the construction site;

[0020]

[0021] In formulas (4) to (5), X 1 The actual lateral value of the hoisted object in the plane coordinates of the construction site, Y 1The actual longitudinal value of the hoisted object in the plane coordinates of the construction site, D i is the actual distance from the origin to the reference tag measured by the measuring tool at the construction site, x1 is the lateral distance of the hoisted object in the plane coordinate system identified by the image acquisition device, y1 is the longitudinal distance of the hoisted object in the plane coordinate system identified by the image acquisition device, and d i is the distance between the reference tag and the origin identified by the image acquisition device;

[0022] The data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time actual plane coordinates of the hoisted object.

[0023] Furthermore, in the intelligent three-dimensional positioning method for tower crane hoisting provided by the present invention, the posture monitoring device includes a gyroscope, which measures the rotation angular velocity of the tower arm and transmits it to the data processing device, and the driver in the cockpit of the tower crane controls the rotation angle of the tower arm according to the rotation angular velocity of the tower arm displayed by the data processing device.

[0024] Furthermore, the intelligent three-dimensional positioning method for tower crane hoisting provided by the present invention comprises four reference tags, which are distributed on the coordinate axes of the plane coordinate system with a predetermined distance as the radius and with the center of the tower crane base as the origin, so as to calculate the plane coordinates of the hoisted object when it is located in different quadrants of the plane coordinate system.

[0025] Furthermore, in the intelligent three-dimensional positioning method for tower crane hoisting provided by the present invention, the positioning base station is a radio frequency base station; the positioning tag and the reference tag are both radio frequency positioning tags; the image acquisition device is a platform camera; and the data processing device is a smart phone, a tablet computer, a laptop computer, or a display terminal with data processing capabilities.

[0026] In order to solve the above technical problems, another technical solution provided by the present invention is: an intelligent three-dimensional positioning system for tower crane hoisting, comprising:

[0027] The positioning device includes a positioning base station installed at the center of the top of the tower body of the tower crane; two positioning tags, which are respectively installed on the moving trolley on the tower arm of the tower crane and the hook of the tower crane; at least two reference tags, which are arranged vertically on the ground with the center of the tower crane foundation as the origin and a predetermined distance as the radius;

[0028] An attitude monitoring device is installed on the tower arm of the tower crane, and the attitude monitoring device includes a tilt sensor for monitoring the tilt angle α of the tower arm relative to the horizontal plane;

[0029] An image acquisition device, installed below the moving trolley on the tower arm of the tower crane, is used to identify the plane coordinates of the hoisted object and its lowered position on the ground, the reference label and the position of the center of the tower crane foundation;

[0030] A data processing device, wirelessly connected to the positioning device, the posture monitoring device and the image acquisition device;

[0031] The positioning base station determines the distance between the tower body and the moving trolley on the tower arm and the distance between the tower body and the hook by reading the signals of the two positioning tags and transmits them wirelessly to the data processing device. The posture monitoring device wirelessly transmits the inclination angle α of the tower arm relative to the horizontal plane to the data processing device. The image acquisition device wirelessly transmits the identified hoisted object and its plane coordinates placed at a specified position on the ground, the reference tag and the position data of the center of the tower crane foundation to the data processing device. The data processing device calculates the real-time height coordinates of the hoisted object connected to the hook of the tower crane; the data processing device takes the center of the tower crane foundation as the origin and the line connecting the origin and the vertically arranged reference tags as the horizontal and vertical axes to establish a plane coordinate system. The data processing device identifies the horizontal distance x1 and the vertical distance y1 of the hoisted object relative to the origin in the plane coordinate system through the image acquisition device to determine the real-time image plane coordinates of the hoisted object; the data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time image plane coordinates of the hoisted object.

[0032] Furthermore, in the tower crane intelligent three-dimensional positioning system provided by the present invention, the data processing device further identifies the distance from the origin to the reference tag as d through the image acquisition device. i The actual distance from the origin to the reference tag measured by the measuring tool at the construction site is D i , according to formula (4) and formula (5), determine the real-time actual plane coordinates of the hoisted object at the construction site;

[0033]

[0034] In formulas (4) to (5), X 1 The actual lateral value of the hoisted object in the plane coordinates of the construction site, Y 1 The actual longitudinal value of the hoisted object in the plane coordinates of the construction site, D i is the actual distance from the origin to the reference tag measured by the measuring tool at the construction site, x1 is the lateral distance of the hoisted object in the plane coordinate system identified by the image acquisition device, y1 is the longitudinal distance of the hoisted object in the plane coordinate system identified by the image acquisition device, and d i is the distance between the reference tag and the origin identified by the image acquisition device;

[0035] The data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time actual plane coordinates of the hoisted object.

[0036] Furthermore, in the intelligent three-dimensional positioning system for tower crane hoisting provided by the present invention, the positioning base station is a radio frequency base station, and the positioning tags and reference tags are both radio frequency positioning tags.

[0037] Furthermore, the intelligent three-dimensional positioning system for tower crane hoisting provided by the present invention has four reference tags, which are distributed on the coordinate axes of the plane coordinate system with a predetermined distance as the radius, taking the center of the tower crane base as the origin, so as to calculate the plane coordinates of the hoisted object when it is located in different quadrants of the plane coordinate system.

[0038] Furthermore, in the intelligent three-dimensional positioning system for tower crane hoisting provided by the present invention, the data processing device is a smart phone, a tablet computer, a laptop computer or a display terminal with data processing capabilities; and the image acquisition device is a platform camera.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The intelligent three-dimensional positioning method and system for tower crane hoisting provided by the present invention can dynamically monitor the inclination angle of the tower wall of the tower crane relative to the horizontal plane through the attitude monitoring device, measure the distance between the tower body and the moving trolley on the tower arm and the distance between the tower body and the hook through the positioning base station and the positioning tag in the positioning device, and the data processing device automatically calculates the real-time height coordinates of the hoisted object according to the inclination angle data, the distance data between the tower body and the moving trolley on the tower arm, and the distance data between the tower body and the hook; the data processing device establishes a plane coordinate system according to the plane coordinates of the identified hoisted object and the position data of the reference tag and the center of the tower crane foundation placed on the ground by the image acquisition device, and the data processing device determines the real-time image plane coordinates of the hoisted object by identifying the horizontal distance x1 and the longitudinal distance y1 of the hoisted object relative to the origin in the plane coordinate system through the image acquisition device; thereby performing three-dimensional intelligent positioning on the hoisted object, improving the hoisting accuracy of the hoisted object when it is placed at the designated position, avoiding the occurrence of safety accidents caused by the inaccurate placement of the hoisted object, and improving the safety of hoisting. It is conducive to realizing automated hoisting operations and can greatly improve the accuracy and safety of hoisting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural composition relationship diagram of the intelligent three-dimensional positioning system for tower crane hoisting;

[0042] Figure 2 It is a schematic diagram of the installation relationship structure of the intelligent three-dimensional positioning system for tower crane hoisting on a simple tower crane;

[0043] Figure 3 is Figure 2 Schematic diagram of calculating the real-time height coordinates between the hoisted object and the ground;

[0044] Figure 4 It is a principle diagram for determining the plane coordinates of the real-time image of the hoisted object through the plane coordinate system;

[0045] Figure 5 It is a schematic diagram for determining the real-time actual plane coordinates of the hoisted object through the plane coordinate system;

[0046] Figure 6 It is a schematic diagram of the structural composition relationship of the attitude monitoring device;

[0047] As shown in the figure:

[0048] 100. Intelligent three-dimensional positioning system for tower crane hoisting;

[0049] 110. Positioning device, 111. Positioning base station, 112. Positioning tag, 113. Reference tag, 114. Tower crane foundation center;

[0050] 120. attitude monitoring device, 121. tilt sensor, 122. gyroscope;

[0051] 130. Image acquisition device;

[0052] 140. Data processing device;

[0053] 200. Tower crane, 210. Tower body, 220. Tower arm, 230. Moving trolley, 240. Lifting rope, 250. Hook, 260. Lifting object. DETAILED DESCRIPTION

[0054] The present invention is described in detail below in conjunction with the accompanying drawings: The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are in very simplified form and in non-precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0055] Please refer to Figures 1 to 6 The embodiment of the present invention provides an intelligent three-dimensional positioning method for tower crane hoisting, which may include:

[0056] Step 301, using a positioning base station 111 and two positioning tags 112, the positioning base station 111 is installed at the top center of the tower body 210 of the tower crane 200, and the two positioning tags 112 are respectively installed on the moving trolley 230 on the tower arm 220 of the tower crane 200 and on the hook 250 of the tower crane 200; the distance between the tower body 210 and the moving trolley 230 and the distance between the tower body 210 and the hook 250 are determined by reading the signals of the two positioning tags 112 by the positioning base station 111.

[0057] Step 302, using a posture monitoring device 120, the posture monitoring device 120 is installed on the tower arm 220 of the tower crane 200, specifically, it can be installed at the length center of the tower arm 220, the posture monitoring device 120 includes a tilt sensor 121, and the tilt sensor 121 monitors the tilt angle α of the tower arm 220 relative to the horizontal plane.

[0058] Step 303, using a data processing device 140, placing or installing the data processing device 140 in the cockpit of the tower crane 200, the data processing device 140 calculates the height of the moving trolley 230 on the tower arm 220 relative to the ground according to formula (1), calculates the length of the suspension rope 240 between the moving trolley 230 on the tower arm 220 and the hook 250 according to formula (2), and calculates the distance between the suspended object 260 connected to the hook 250 and the ground according to formula (3).

[0059] H4=H+L1×sinα (1).

[0060] In formula (1), H4 is the height from the moving trolley 230 on the tower arm 220 to the ground, H is the height from the tower body 210 to the ground, L1 is the distance between the tower body 210 and the moving trolley 230, and α is the inclination angle of the tower arm 220 relative to the horizontal plane.

[0061]

[0062] In formula (2), H3 is the length of the rope 240 between the moving trolley 230 on the tower arm 220 and the hook 250, L1 is the distance between the tower body 210 and the moving trolley 230, α is the inclination angle of the tower arm 220 relative to the horizontal plane, and L2 is the distance between the tower body 210 and the hook 250.

[0063] H1=H4-H3-H2 (3).

[0064] In formula (3), H1 is the distance between the hoisted object 260 and the ground, H3 is the length of the rope 240 between the moving trolley 230 on the tower arm 220 and the hook 250, and H2 is the distance between the positioning tag 112 at the hook 250 and the lower surface of the hoisted object 260, which are known parameters.

[0065] The data processing device 140 determines the real-time height coordinate of the hoisted object 260 connected to the hook 250 of the tower crane 200 according to formula (3).

[0066] Step 304 , using at least two reference tags 113 , arranging the two reference tags 113 perpendicularly to each other with the center 114 of the tower crane base as the origin O and a predetermined distance as the radius.

[0067] Step 305, using an image acquisition device 130, installing the image acquisition device 130 below the moving trolley 230 on the tower arm 220 of the tower crane 200, for identifying the plane coordinates of the hoisted object 260 and its plane coordinates placed at a designated position on the ground, the reference tag 113 and the center 114 of the tower crane base; the data processing device 140 establishes a plane coordinate system with the center 114 of the tower crane base as the origin O and the line connecting the origin O and the vertically arranged reference tag 113 as the horizontal axis and the vertical axis, and the data processing device 140 determines the real-time image plane coordinates of the hoisted object 260 by identifying the horizontal distance x1 and the vertical distance y1 of the hoisted object 260 relative to the origin O in the plane coordinate system through the image acquisition device 130;

[0068] Step 306 : The data processing device 140 performs three-dimensional intelligent positioning of the hoisted object 260 according to the real-time height coordinates and the real-time image plane coordinates of the hoisted object 260 .

[0069] In order to improve positioning accuracy and avoid image measurement errors, the tower crane intelligent three-dimensional positioning method provided by the embodiment of the present invention also includes:

[0070] Step 307: The data processing device 140 further identifies through the image acquisition device 130 that the distance from the origin O to the reference tag 113 is d i The actual distance from the origin O to the reference tag 113 measured by the measuring tool at the construction site is D i , determine the real-time actual plane coordinates of the hoisted object 260 at the construction site according to formula (4) and formula (5);

[0071]

[0072] In formulas (4) to (5), X 1 The actual horizontal coordinate value of the hoisted object 260 in the plane coordinate of the construction site, Y 1 The actual longitudinal coordinate value of the hoisted object 260 in the plane coordinates of the construction site, D i is the actual distance from the origin O to the reference tag 113 measured by a measuring tool at the construction site, x1 is the lateral distance of the hoisted object 260 in the plane coordinate system identified by the image acquisition device 130, that is, the lateral distance of the hoisted object 260 relative to the origin O, that is, the image lateral value, y1 is the longitudinal distance of the hoisted object 260 in the plane coordinate system identified by the image acquisition device 130, that is, the longitudinal distance of the hoisted object 260 relative to the origin O, that is, the image longitudinal value, d i It is the distance between the reference tag 113 and the origin O identified by the image acquisition device 130 , and the image distance from the origin O to the reference tag 113 .

[0073] The data processing device 140 performs three-dimensional intelligent positioning of the hoisted object 260 according to the real-time height coordinates and the real-time actual plane coordinates of the hoisted object 260 .

[0074] Please refer to Figure 6 In the intelligent three-dimensional positioning method for tower crane hoisting provided by the embodiment of the present invention, the attitude monitoring device 120 includes a gyroscope 122, and the rotation angular velocity of the tower arm 220 is measured by the gyroscope 122 and transmitted to the data processing device 140. The driver in the cockpit of the tower crane 200 controls the rotation angle of the tower arm 220 according to the rotation angular velocity of the tower arm 220 displayed by the data processing device 140. The gyroscope 122 can improve the control accuracy of the hoisted object 260.

[0075] Please refer to Figure 4 In order to realize the three-dimensional coordinate positioning of the hoisted object 260 in each quadrant of the plane coordinate system where the hoisted object 260 is located, the intelligent three-dimensional positioning method for tower crane hoisting provided by the embodiment of the present invention has four reference tags 113, which are distributed on the coordinate axis of the plane coordinate system with a predetermined distance as the radius, with the tower crane base center 114 as the origin O, so as to calculate the plane coordinates of the hoisted object 260 in different quadrants of the plane coordinate system. The coordinate axis includes an x-axis and a y-axis.

[0076] In the intelligent three-dimensional positioning method for tower crane hoisting provided by an embodiment of the present invention, the positioning base station 111 can be a radio frequency base station; the positioning tag 112 and the reference tag 113 are both radio frequency positioning tags 112; the image acquisition device 130 is a platform camera; the data processing device 140 is a smart phone, a tablet computer, a laptop computer or a display terminal with data processing capabilities.

[0077] Please refer to Figures 1 to 6 In order to implement the above method, the embodiment of the present invention further provides an intelligent three-dimensional positioning system 100 for tower crane hoisting, comprising a positioning device 110, a posture monitoring device 120, an image acquisition device 130 and a data processing device 140, wherein:

[0078] The positioning device 110 includes a positioning base station 111 installed at the top center of the tower body 210 of the tower crane 200; two positioning tags 112, which are respectively installed on the moving trolley 230 on the tower arm 220 of the tower crane 200 and the hook 250 of the tower crane 200; at least two reference tags 113, which are arranged vertically on the ground with a predetermined distance as the radius and the center 114 of the tower crane as the origin O. The positioning base station 111 is a radio frequency base station, and the positioning tag 112 and the reference tag 113 are both radio frequency positioning tags 112.

[0079] The posture monitoring device 120 is installed on the tower arm 220 of the tower crane 200 . The posture monitoring device 120 includes a tilt sensor 121 for monitoring the tilt angle α of the tower arm 220 relative to the horizontal plane.

[0080] The image acquisition device 130 is installed below the moving trolley 230 on the tower arm 220 of the tower crane 200, and is used to identify the plane coordinates of the hoisted object 260 and its designated position on the ground, the reference label 113 and the position of the tower crane base center 114.

[0081] The data processing device 140 is wirelessly connected to the positioning device 110, the attitude monitoring device 120 and the image acquisition device 130; the positioning base station 111 determines the distance between the tower body 210 and the moving vehicle 230 and the distance between the tower body 210 and the hook 250 by reading the signals of the two positioning tags 112 and wirelessly transmits them to the data processing device 140, the attitude monitoring device 120 wirelessly transmits the inclination angle α of the tower arm 220 relative to the horizontal plane to the data processing device 140, and the image acquisition device 130 wirelessly transmits the identified hoisted object 260 and the plane coordinates of the designated position placed on the ground, the reference tag 113 and the position data of the tower crane base center 114 to the data processing device 140. According to the data processing device 140, the data processing device 140 calculates the real-time height coordinates of the hoisted object 260 connected to the hook 250 of the tower crane 200; the data processing device 140 takes the tower crane base center 114 as the origin O, and takes the line connecting the origin O and the vertically arranged reference tag 113 as the horizontal axis and the vertical axis to establish a plane coordinate system, and the data processing device 140 identifies the horizontal distance x1 and the vertical distance y1 of the hoisted object 260 relative to the origin O in the plane coordinate system through the image acquisition device 130 to determine the real-time image plane coordinates of the hoisted object 260; the data processing device 140 performs three-dimensional intelligent positioning of the hoisted object 260 according to the real-time height coordinates and the real-time image plane coordinates of the hoisted object 260.

[0082] Please refer to Figures 4 to 5 In order to improve the positioning accuracy and avoid the error of image measurement, the intelligent three-dimensional positioning system for tower crane hoisting provided by the embodiment of the present invention, the data processing device 140 also recognizes the distance from the origin O to the reference tag 113 as d through the image acquisition device 130 i The actual distance from the origin O to the reference tag 113 measured by the measuring tool at the construction site is D i , determine the real-time actual plane coordinates of the hoisted object 260 at the construction site according to formula (4) and formula (5);

[0083]

[0084] In formulas (4) to (5), X 1The actual lateral value of the hoisted object 260 in the plane coordinates of the construction site, Y 1 The actual longitudinal value of the hoisted object 260 in the plane coordinates of the construction site, D i is the actual distance from the origin O to the reference tag 113 measured by the measuring tool at the construction site, x1 is the lateral distance of the hoisted object 260 in the plane coordinate system identified by the image acquisition device 130, y1 is the longitudinal distance of the hoisted object 260 in the plane coordinate system identified by the image acquisition device 130, and d i The image acquisition device 130 identifies the distance between the reference tag 113 and the origin O; the data processing device 140 performs three-dimensional intelligent positioning of the hoisted object 260 according to the real-time height coordinates and real-time actual plane coordinates of the hoisted object 260.

[0085] Please refer to Figure 4 In order to realize the three-dimensional coordinate positioning of the hoisted object 260 in each quadrant of the plane coordinate system where the hoisted object 260 is located, the intelligent three-dimensional positioning system for tower crane hoisting provided by the embodiment of the present invention has four reference tags 113, which are distributed on the coordinate axis of the plane coordinate system with a predetermined distance as the radius, with the tower crane base center 114 as the origin O, so as to calculate the plane coordinates of the hoisted object 260 in different quadrants of the plane coordinate system. At this time, the four reference tags 113 and the origin O construct a plane coordinate system with four quadrants. The two reference tags 113 on each coordinate axis are two symmetrically arranged on the coordinate axis with the origin O as the center.

[0086] The intelligent three-dimensional positioning system for tower crane hoisting provided by the embodiment of the present invention, the data processing device 140 can be a smart phone, a tablet computer, a laptop computer or a display terminal with data processing capabilities; the image acquisition device 130 can be a platform camera.

[0087] The intelligent three-dimensional positioning method and system for tower crane hoisting provided by the embodiment of the present invention can dynamically monitor the inclination angle of the tower wall of the tower crane 200 relative to the horizontal plane through the attitude monitoring device 120, measure the distance between the tower body 210 and the moving trolley 230 and the distance between the tower body 210 and the hook 250 through the positioning base station 111 and the positioning tag 112 in the positioning device 110, and the data processing device 140 automatically calculates the real-time height coordinates of the hoisting object 260 according to the inclination angle data, the distance data between the tower body 210 and the moving trolley 230, and the distance data between the tower body 210 and the hook 250; the data processing device 140 automatically calculates the real-time height coordinates of the hoisting object 260 according to the image acquisition device The device 130 establishes a plane coordinate system with the identified hoisting object 260 and the plane coordinates of the designated position on the ground, the reference tag 113 and the position data of the tower crane base center 114. The data processing device 140 identifies the horizontal distance x1 and the vertical distance y1 of the hoisting object 260 relative to the origin O in the plane coordinate system through the image acquisition device 130 to determine the real-time image plane coordinates of the hoisting object 260; thereby performing three-dimensional intelligent positioning of the hoisting object 260, improving the hoisting accuracy of the hoisting object 260 to the designated position, avoiding the occurrence of safety accidents caused by the inaccurate lowering position of the hoisting object 260, and improving the safety of hoisting. It is conducive to realizing automated hoisting operations and can greatly improve the accuracy and safety of hoisting operations.

[0088] The intelligent three-dimensional positioning method and system for tower crane hoisting provided by the embodiment of the present invention can monitor the operation status and hoisting position of the tower crane in real time during the operation of the tower crane, improve the safety and controllability of the tower crane hoisting operation, dynamically monitor the posture of the tower crane, and automatically calculate the hoisting position of the hoisted object with high accuracy.

[0089] The present invention is not limited to the above-mentioned specific implementation modes. Obviously, the above-mentioned embodiments are only some embodiments of the embodiments of the present invention, but not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention. Those skilled in the art can make other levels of modifications and changes to the present invention. In this way, if these modifications and changes of the present invention fall within the scope of the claims of the present invention, the present invention is also intended to include these changes and changes.

Claims

1. An intelligent three-dimensional positioning method for tower crane hoisting, characterized in that: include: A positioning base station and two positioning tags are used. The positioning base station is installed at the top center of the tower crane, and the two positioning tags are installed on the moving trolley on the tower arm of the tower crane and on the hook of the tower crane respectively; the distance between the tower body and the moving trolley on the tower arm and the distance between the tower body and the hook are determined by reading the signals of the two positioning tags by the positioning base station; A posture monitoring device is used and installed on the tower arm of the tower crane. The posture monitoring device includes a tilt sensor, which monitors the tilt angle of the tower arm relative to the horizontal plane. A data processing device is used and placed or installed in the cockpit of the tower crane. The data processing device calculates the height of the moving trolley on the tower arm relative to the ground according to formula (1), calculates the length of the lifting rope between the moving trolley on the tower arm and the hook according to formula (2), and calculates the distance between the lifting object connected to the hook and the ground according to formula (3); H4=H+L1×sinα (1); In formula (1), H4 is the height from the moving trolley on the tower arm to the ground, H is the height from the tower body to the ground, L1 is the distance from the tower body to the moving trolley on the tower arm, and α is the inclination angle of the tower arm relative to the horizontal plane; In formula (2), H3 is the length of the rope between the moving trolley on the tower arm and the hook, L1 is the distance between the tower body and the moving trolley on the tower arm, α is the inclination angle of the tower arm relative to the horizontal plane, and L2 is the distance between the tower body and the hook; H1=H4-H3-H2 (3); In formula (3), H1 is the distance between the hoisted object and the ground, H3 is the length of the rope between the moving trolley on the tower arm and the hook, and H2 is the distance between the positioning tag at the hook and the lower surface of the hoisted object, which are known parameters; The data processing device determines the real-time height coordinate of the hoisted object connected to the hook of the tower crane according to formula (3); At least two reference tags are used, and the two reference tags are arranged perpendicularly to each other with a predetermined distance as a radius, taking the center of the tower crane foundation as the origin; An image acquisition device is used, and the image acquisition device is installed below the moving trolley on the tower arm of the tower crane to identify the plane coordinates of the hoisted object and its lowered position on the ground, the reference label and the position of the center of the tower crane foundation; The data processing device establishes a plane coordinate system with the center of the tower crane foundation as the origin and the line connecting the origin and the vertically arranged reference tags as the horizontal axis and the vertical axis. The data processing device identifies the horizontal distance x1 and the vertical distance y1 of the hoisted object relative to the origin in the plane coordinate system through the image acquisition device to determine the real-time image plane coordinates of the hoisted object; The data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time image plane coordinates of the hoisted object.

2. The intelligent three-dimensional positioning method for tower crane hoisting according to claim 1 is characterized in that: The data processing device also uses the image acquisition device to identify the distance from the origin to the reference tag as d i The actual distance from the origin to the reference tag measured by the measuring tool at the construction site is D i , according to formula (4) and formula (5), determine the real-time actual plane coordinates of the hoisted object at the construction site; In formulas (4) to (5), X1 is the actual horizontal value of the hoisted object in the plane coordinates of the construction site, Y1 is the actual vertical value of the hoisted object in the plane coordinates of the construction site, and D i is the actual distance from the origin to the reference tag measured by the measuring tool at the construction site, x1 is the lateral distance of the hoisted object in the plane coordinate system identified by the image acquisition device, y1 is the longitudinal distance of the hoisted object in the plane coordinate system identified by the image acquisition device, and d i is the distance between the reference tag and the origin identified by the image acquisition device; The data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time actual plane coordinates of the hoisted object.

3. The intelligent three-dimensional positioning method for tower crane hoisting according to claim 1 is characterized in that: The attitude monitoring device includes a gyroscope, which measures the rotational angular velocity of the tower arm and transmits it to the data processing device. The driver in the cockpit of the tower crane controls the rotation angle of the tower arm according to the rotational angular velocity of the tower arm displayed by the data processing device.

4. The intelligent three-dimensional positioning method for tower crane installation according to claim 1 is characterized in that: There are four reference tags, which are distributed on the coordinate axes of the plane coordinate system with a predetermined distance as the radius, taking the center of the tower crane foundation as the origin, so as to calculate the plane coordinates of the hoisted object when it is located in different quadrants of the plane coordinate system.

5. The intelligent three-dimensional positioning method for tower crane installation according to claim 1 is characterized in that: The positioning base station is a radio frequency base station; the positioning tag and the reference tag are both radio frequency positioning tags; the image acquisition device is a platform camera; the data processing device is a smart phone, a tablet computer, a laptop computer or a display terminal with data processing capabilities.

6. The intelligent three-dimensional positioning system for tower crane installation according to claim 1 is characterized in that: include: The positioning device includes a positioning base station installed at the center of the top of the tower body of the tower crane; two positioning tags, which are respectively installed on the moving trolley on the tower arm of the tower crane and the hook of the tower crane; at least two reference tags, which are arranged vertically on the ground with the center of the tower crane foundation as the origin and a predetermined distance as the radius; An attitude monitoring device is installed on the tower arm of the tower crane, and the attitude monitoring device includes a tilt sensor for monitoring the tilt angle α of the tower arm relative to the horizontal plane; An image acquisition device, installed below the moving trolley on the tower arm of the tower crane, is used to identify the plane coordinates of the hoisted object and its lowered position on the ground, the reference label and the position of the center of the tower crane foundation; A data processing device, wirelessly connected to the positioning device, the posture monitoring device and the image acquisition device; The positioning base station determines the distance between the tower body and the moving trolley on the tower arm and the distance between the tower body and the hook by reading the signals of the two positioning tags and wirelessly transmits them to the data processing device. The posture monitoring device wirelessly transmits the inclination angle α of the tower arm relative to the horizontal plane to the data processing device. The image acquisition device wirelessly transmits the identified hoisted object and its plane coordinates placed at a specified position on the ground, the reference tag and the position data of the center of the tower crane foundation to the data processing device. The data processing device calculates the real-time height coordinates of the hoisted object connected to the hook of the tower crane; the data processing device takes the center of the tower crane foundation as the origin and the line connecting the origin and the vertically arranged reference tags as the horizontal and vertical axes to establish a plane coordinate system. The data processing device identifies the horizontal distance x1 and the vertical distance y1 of the hoisted object relative to the origin in the plane coordinate system through the image acquisition device to determine the real-time image plane coordinates of the hoisted object; the data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time image plane coordinates of the hoisted object.

7. The intelligent three-dimensional positioning system for tower crane installation according to claim 6 is characterized in that: The data processing device also uses the image acquisition device to identify the distance from the origin to the reference tag as d i The actual distance from the origin to the reference tag measured by the measuring tool at the construction site is D i , according to formula (4) and formula (5), determine the real-time actual plane coordinates of the hoisted object at the construction site; In formulas (4) to (5), X1 is the actual horizontal value of the hoisted object in the plane coordinates of the construction site, Y1 is the actual vertical value of the hoisted object in the plane coordinates of the construction site, and D i is the actual distance from the origin to the reference tag measured by the measuring tool at the construction site, x1 is the lateral distance of the hoisted object in the plane coordinate system identified by the image acquisition device, y1 is the longitudinal distance of the hoisted object in the plane coordinate system identified by the image acquisition device, and d i is the distance between the reference tag and the origin identified by the image acquisition device; The data processing device performs three-dimensional intelligent positioning of the hoisted object according to the real-time height coordinates and real-time actual plane coordinates of the hoisted object.

8. The intelligent three-dimensional positioning system for tower crane installation according to claim 6 is characterized in that: The positioning base station is a radio frequency base station, and the positioning tag and the reference tag are both radio frequency positioning tags.

9. The intelligent three-dimensional positioning system for tower crane installation according to claim 6, characterized in that: There are four reference tags, which are distributed on the coordinate axes of the plane coordinate system with a predetermined distance as the radius, taking the center of the tower crane foundation as the origin, so as to calculate the plane coordinates of the hoisted object when it is located in different quadrants of the plane coordinate system.

10. The intelligent three-dimensional positioning system for tower crane installation according to claim 6, characterized in that: The data processing device is a smart phone, a tablet computer, a laptop computer or a display terminal with data processing capabilities; the image acquisition device is a platform camera.

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