A tower crane hook three-dimensional posture real-time measurement method, system and medium

Abstract

The present invention belongs to the field of hook posture measurement, and specifically discloses a real-time measurement method, system and medium for the three-dimensional posture of a tower crane hook, including: the first, second and third UWB base stations are respectively installed at the cab, the front end of the boom and the tower crane foundation, and the first and second UWB tags are respectively installed at the trolley and the hook; the hook posture is obtained based on the data obtained by the second IMU at the hook; the trolley coordinates are obtained based on the distance between the first UWB tag and the first UWB base station; the second UWB tag coordinates are obtained based on the first, second and third UWB base station coordinates; the hook priori coordinates are obtained based on the hook posture and the acceleration of the second IMU, and then the second UWB tag coordinates are combined to obtain the three-dimensional spatial position of the hook; the rope inclination angle is obtained based on the three-dimensional spatial position of the hook and the trolley coordinates. The present invention can realize the real-time measurement of the three-dimensional posture of the tower crane hook, and effectively improve the measurement accuracy and reliability.

Description

Technical Field

[0001] The present invention belongs to the field of hook posture measurement, and more specifically, relates to a real-time measurement method, system and medium for measuring the three-dimensional posture of a tower crane hook. Background Art

[0002] Tower cranes are the most important vertical material transportation machinery in the construction field. They play an extremely important role in the context of the continuous development of prefabricated buildings and intelligent construction. Prefabricated components in prefabricated buildings have different shapes, large sizes and weights, which puts higher requirements on the real-time planning of the lifting path and anti-sway control of the intelligent lifting system. Incorrect judgment of the hook posture can easily cause the components to shake drastically during the lifting operation, or even fall, posing a serious safety threat to the construction personnel and equipment below. Accurately measuring the three-dimensional posture of the hook, that is, the hook's posture, three-dimensional spatial position and the inclination of the lifting rope, is crucial to the safety of intelligent lifting operations.

[0003] The hook system is an underactuated system with six degrees of freedom (three translations and three rotations) in three-dimensional space, so the three-dimensional pose of the hook is uncertain. Measuring the pose of the tower crane hook by manual visual means will inevitably result in measurement errors. At present, existing solutions use sensor data such as UWB technology, rotary encoders, gyroscopes, accelerometers, etc. to measure the pose of the tower crane hook, but these solutions either regard the rope as an absolutely vertical line to estimate the approximate position of the hook, or regard the tower crane as a two-dimensional plane and only consider the swing of the hook in the two-dimensional plane. There are also solutions that use monocular or binocular cameras to measure the pose of the hook in three-dimensional space. However, the operating height of the tower crane is high, and when the distance between the hook and the camera is far, it is difficult for the visual solution to accurately and reliably measure the pose of the hook. Therefore, there is still a lack of effective ways to measure the pose of the tower crane hook in three-dimensional space. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a method, system and medium for real-time measurement of the three-dimensional posture of a tower crane hook, the purpose of which is to accurately measure the three-dimensional posture of the hook including the hook posture, three-dimensional spatial position and inclination of the rope in real time.

[0005] To achieve the above object, according to a first aspect of the present invention, a method for real-time measurement of the three-dimensional position and posture of a tower crane hook is proposed, comprising the following steps:

[0006] Based on the angular velocity, acceleration and magnetic field strength obtained by the second IMU, the pitch angle, roll angle and yaw angle of the hook, that is, the hook attitude, are calculated through the PI adaptive two-stage Kalman filter algorithm;

[0007] Get the distance between the first UWB tag and the first UWB base station, which is the distance between the car and the cab, and then get the coordinates of the car in the reference coordinate system ;

[0008] Based on the positions of the first UWB base station, the second UWB base station and the third UWB base station, the coordinates of the second UWB tag in the reference coordinate system are calculated. ;

[0009] Based on the hook posture and the acceleration obtained by the second IMU, the prior coordinates of the hook in the reference coordinate system are calculated. ;

[0010] Based on the prior coordinates of the hook in the reference coordinate system And the coordinates of the second UWB tag in the reference coordinate system , the three-dimensional spatial position of the hook is calculated by the PI adaptive Kalman filter algorithm ;

[0011] Based on the three-dimensional spatial position of the hook And the coordinates of the car The inclination angle of the lifting rope is calculated, thereby obtaining the three-dimensional position of the hook including the hook posture, the three-dimensional spatial position of the hook and the inclination angle of the lifting rope;

[0012] The first UWB base station, the second UWB base station and the third UWB base station are respectively installed in the cab, the front end of the boom and the foundation of the tower crane, the first UWB tag and the second UWB tag are respectively installed on the trolley and the hook, and the first UWB tag and the second UWB tag are connected to the first UWB base station, the second UWB base station and the third UWB base station through wireless communication; the second IMU is installed at the hook; the reference coordinate system is a spatial rectangular coordinate system constructed with the first UWB base station as the origin at the initial moment, the line between the first UWB base station and the second UWB base station as the X-axis, and the line between the first UWB base station and the third UWB base station as the Y-axis.

[0013] As a further preferred embodiment, the coordinates of the trolley in the reference coordinate system are calculated based on the distance between the trolley and the cab. ,include:

[0014] According to the distance between the trolley and the cab, the coordinates of the trolley in the operating coordinate system are obtained; the operating coordinate system is a spatial rectangular coordinate system constructed with the first UWB base station at the current moment as the origin, the line between the first UWB base station and the second UWB base station as the X-axis, and the line between the first UWB base station and the third UWB base station as the Y-axis;

[0015] Based on the angular velocity, acceleration and magnetic field strength obtained by the first IMU, the yaw angle of the boom is calculated through the PI adaptive two-stage Kalman filter algorithm. The first IMU is installed in the cab; the transformation relationship from the working coordinate system to the reference coordinate system is determined according to the yaw angle of the boom, and then the coordinates of the vehicle in the reference coordinate system are obtained. .

[0016] As a further preferred embodiment, based on the positions of the first UWB base station, the second UWB base station, and the third UWB base station, the coordinates of the second UWB tag in the reference coordinate system are calculated. ,include:

[0017] Based on the positions of the first UWB base station, the second UWB base station and the third UWB base station, and the transformation relationship from the operating coordinate system to the reference coordinate system, the coordinates of the first UWB base station, the second UWB base station and the third UWB base station in the reference coordinate system are obtained; and then the coordinates of the second UWB tag in the reference coordinate system are calculated by the Taylor algorithm.

[0018] As a further preferred embodiment, when the coordinates of the second UWB tag in the reference coordinate system are calculated by the Taylor algorithm, two solutions are obtained; and then the correct coordinates of the second UWB tag are determined according to the positive and negative conditions of the hook roll angle.

[0019] As a further preference, the first IMU and the second IMU both include a gyroscope, an accelerometer and a magnetometer, which are used to collect angular velocity, acceleration and magnetic field strength, respectively. Before measurement, the gyroscope is calibrated for zero bias, and the accelerometer and magnetometer are calibrated using an ellipsoid fitting method.

[0020] As a further preferred method, based on the angular velocity, acceleration and magnetic field strength obtained by the second IMU, the posture of the hook is calculated through a PI adaptive two-stage Kalman filter algorithm, including:

[0021] First-level filtering: Based on the angular velocity and acceleration obtained by the second IMU, the correction factor of the first-level filtering is obtained through the PI adaptive Kalman filter algorithm. ,according to Solve to get the pitch angle of the hook and roll angle ;

[0022] Second-level filtering: Based on the magnetic field strength obtained by the second IMU, the correction factor of the second-level filtering is obtained through the Kalman filter algorithm. ,according to and Solve to get the yaw angle of the hook .

[0023] As a further preferred embodiment, based on the three-dimensional spatial position of the hook And the coordinates of the car The inclination angle of the suspension rope is calculated as follows:

[0024]

[0025] in, is the inclination angle of the suspension rope.

[0026] According to a second aspect of the present invention, a system for real-time measurement of the three-dimensional posture of a tower crane hook is provided, comprising a processor, wherein the processor is used to execute the above-mentioned method for real-time measurement of the three-dimensional posture of a tower crane hook.

[0027] According to a third aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned method for real-time measurement of the three-dimensional posture of a tower crane hook.

[0028] According to a fourth aspect of the present invention, there is provided a computer program product, which includes a computer program, and when the computer program is executed by a processor, the above-mentioned method for real-time measurement of the three-dimensional posture of a tower crane hook is implemented.

[0029] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

[0030] 1. The present invention designs the UWB and IMU positions for tower cranes, and then uses the PI adaptive two-stage Kalman filter algorithm to fuse IMU data and UWB position data to measure the posture, three-dimensional spatial position and rope inclination of the tower crane hook in real time; it can realize real-time measurement of the three-dimensional posture of the tower crane hook, and effectively improve the measurement accuracy and reliability of the three-dimensional posture of the tower crane hook.

[0031] 2. When the present invention obtains the three-dimensional spatial position of the hook, it is based on the PI adaptive Kalman filter algorithm, integrates the IMU data and UWB positioning information, and combines the hook posture and the arm yaw angle to perform coordinate system conversion and the hook roll angle to perform coordinate sign judgment, so that the three-dimensional spatial position of the hook can be accurately determined by setting only three UWB base stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the installation of the real-time measurement device for the three-dimensional posture of the tower crane hook according to an embodiment of the present invention.

[0033] Figure 2 Schematic diagram of the UWB communication architecture of the tower crane hook posture measurement device according to an embodiment of the present invention.

[0034] Figure 3Schematic diagram of the internal modules of the host computer according to an embodiment of the present invention.

[0035] Figure 4 Schematic diagram of the internal modules of the attitude slave according to an embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram of the installation structure of the attitude slave according to an embodiment of the present invention.

[0037] Figure 6 The present invention is a flowchart of a tower crane hook posture measurement method according to an embodiment of the present invention.

[0038] Figure 7 The present invention is a flow chart of a method for measuring the three-dimensional spatial position of a tower crane hook and the inclination angle of a lifting rope according to an embodiment of the present invention.

[0039] In all the drawings, the same reference numerals are used to represent the same elements or structures, wherein: 1-cab, 11-host computer, 12-first UWB base station, 111-first IMU, 112-first Bluetooth module, 113-memory, 114 processor, 2-jib, 3-trolley, 31-first UWB tag, 4-tower body, 5-hook, 51-hook body, 52-side panel, 53-attitude slave, 531-second IMU, 532-second UWB tag, 5321-UWB signal transceiver antenna, 5322-power amplifier, 5323-signal amplifier, 5324-UWB RF chip, 533-second Bluetooth module, 534-controller, 535-battery module, 5351-battery management module, 5352-built-in battery, 6-tower crane foundation, 61-third UWB base station, 7-front end of the boom, 71-second UWB base station, 8-sling rope. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] The embodiment of the present invention provides a real-time measurement device for the three-dimensional position and posture of a tower crane hook, such as Figure 1 As shown, the measuring device needs to be installed at the corresponding position of the tower crane before measurement.

[0042] For a tower crane, its boom 2 can rotate around the center line of the tower body, the cab 1 is arranged at the connection between the boom and the tower body, the trolley 3 can move along the boom 2, and the hook 5 is suspended below the trolley 3 through the rope 8. The measuring device includes a host computer 11, a posture slave 53 and a UWB base station group, the host computer 11 is installed at the cab 1, and the posture slave 53 is installed at the hook 5.

[0043] like Figure 2 As shown, the UWB base station group includes a first UWB base station 12, a second UWB base station 71, a third UWB base station 61, and a first UWB tag 31 and a second UWB tag 532 which are wirelessly connected to the first UWB base station 12, the second UWB base station 71, and the third UWB base station 61 respectively; the first UWB base station 12 is installed on one side of the cab 1, the second UWB base station 71 is installed on the front end 7 of the boom, the third UWB base station 61 is installed on the tower crane foundation 6, the first UWB tag 31 is installed on the trolley 3, and the second UWB tag 532 is installed on the hook 5.

[0044] Through the above design, the connecting lines of the first UWB base station 12, the first UWB tag 31, and the second UWB base station 71 can be on the same horizontal line, the connecting lines of the first UWB base station 12, the second UWB base station 71, and the third UWB base station 61 form a right triangle, and the first UWB base station 12, the second UWB base station 71, the third UWB base station 61, and the first UWB tag 31 are in the same plane.

[0045] Preferably, the first UWB base station 12, the second UWB base station 71, the third UWB base station 61, the first UWB tag 31 and the second UWB tag 532 all include a UWB RF chip 5324, a power amplifier 5322, a signal amplifier 5323 and a UWB signal transceiver antenna 5321. By setting the power amplifier 5322, the RF signal emitted by the UWB RF chip 5324 can be amplified, and by setting the signal amplifier 5323, the RF received by the UWB signal transceiver antenna 5321 can be amplified, thereby improving the signal transmission distance (in this implementation case, the measured maximum transmission distance between the UWB base station and the UWB tag reaches 80 meters) and the transmission quality (the measured positioning accuracy is at the centimeter level), thereby ensuring the stability and reliability of the measurement.

[0046] like Figure 3As shown, the host computer 11 includes a first IMU 111, a first Bluetooth module 112, a memory 113 and a processor 114; the host computer 11 exchanges data with the first UWB base station 12, the second UWB base station 71 and the third UWB base station 61 in a wired manner, and the host computer 11 exchanges data with the attitude slave 53 wirelessly via the Bluetooth communication protocol. The first IMU 111 is located in the cab and moves with the boom 2. The first IMU 111 can collect three-axis acceleration, angular velocity and magnetic field strength to measure the yaw angle of the boom 2. .

[0047] like Figure 4 As shown, the attitude slave 53 includes a second IMU 531, a second Bluetooth module 533, a controller 534, a battery module 535 and a housing. The second IMU 531 can collect three-axis acceleration, angular velocity and magnetic field strength to measure the attitude of the hook 5, that is, the yaw angle , Pitch angle and roll angle .

[0048] Both the first IMU 111 and the second IMU 531 are nine-axis IMUs, which include a gyroscope, an accelerometer, and a magnetometer, which are used to collect angular velocity, acceleration, and magnetic field strength, respectively. Before use, the first IMU 111 and the second IMU 531 are calibrated.

[0049] Preferably, the ellipsoid fitting method is used to calibrate the acceleration value of the accelerometer and the magnetic field strength value of the magnetometer, and the angular velocity value of the gyroscope is calibrated according to the zero bias value. The housing includes a housing body and a housing cover, and other components of the attitude slave 53 and the second UWB tag 532 are arranged in the housing body, the housing cover is arranged on the housing body, and the housing is installed on the side plate 52 of the hook as a whole, and the hook body 51 is located below the side plate 52. Figure 5 The battery module 535 includes a built-in battery 5352 and a battery management module 5351 . The built-in battery 5352 provides a stable power supply for the attitude slave 53 . The battery management module 5351 is used to monitor the power data of the built-in battery 5352 .

[0050] Preferably, the built-in battery 5352 is designed to be replaceable. A special battery door is provided at the bottom of the shell body, and the battery door is connected to the shell body through a locking mechanism to facilitate battery replacement. The joint between the battery door and the shell body is sealed with a silicone sealing ring to enhance the waterproof and dustproof performance of the posture slave 53.

[0051] Preferably, the shell body and the shell cover are both made of lightweight high-strength aluminum alloy material, which has a high strength-to-weight ratio and good corrosion resistance. The shell surface is coated with a layer of UV-resistant and corrosion-resistant protective paint to extend the service life and keep the appearance neat.

[0052] Preferably, the shell body and the shell cover are fastened by stainless steel screws, the joints are sealed with silicone rubber sealing rings, and waterproof glue is applied around the screw holes to ensure good waterproof and dustproof performance even under extreme weather conditions.

[0053] Preferably, an anti-skid pad is provided at the bottom of the shell to increase the friction between the shell and the hook side plate 52, and is fixed to the hook side plate 52 using stainless steel fasteners to ensure the stability of the posture slave 53 during the movement of the hook 5.

[0054] Preferably, the shell is equipped with a detachable external antenna, which is located at the top of the shell and is used to enhance the wireless communication capability of the second Bluetooth module 533. A waterproof cover is arranged around the external antenna and is made of wear-resistant material to protect the external antenna from rain erosion.

[0055] An embodiment of the present invention provides a real-time measurement method for the three-dimensional posture of a tower crane hook, which is based on the above-mentioned measurement device. The three-dimensional posture of the hook includes the hook posture, the three-dimensional spatial position and the inclination angle of the rope.

[0056] Pre-set reference coordinate system : Taking the first UWB base station 12 as the origin O of the coordinate system, the initial time When the measurement is performed, the line between the first UWB base station 12 and the second UWB base station 71 is the X-axis, the line between the first UWB base station 12 and the third UWB base station 61 is the Y-axis of the coordinate system, and a straight line perpendicular to the XY plane is drawn with the first UWB base station 12 as the origin. The straight line is the Z-axis, which is the measurement reference coordinate system XYZ.

[0057] The reference coordinate system In the figure, the direction from the first UWB base station 12 to the second UWB base station 71 is the positive direction of the X-axis, and the direction from the first UWB base station 12 to the third UWB base station 61 is the positive direction of the Y-axis. The positive direction of the Z-axis is determined according to the right-hand rule. When the thumb of the right hand points to the positive direction of the X-axis (the direction from the first UWB base station 12 to the second UWB base station 71), and the index finger points to the positive direction of the Y-axis (the direction from the first UWB base station 12 to the third UWB base station 61), the direction pointed by the middle finger of the right hand is the positive direction of the Z-axis.

[0058] The real-time measurement method of the three-dimensional position of the hook specifically includes the following steps:

[0059] S1: Based on the PI adaptive two-stage Kalman filter algorithm, the acceleration, angular velocity and magnetic field strength collected by the second IMU are integrated to measure the attitude of the hook 5, that is, the yaw angle in real time , Pitch angle and roll angle .

[0060] like Figure 6 As shown, the following steps are included:

[0061] S11: Construct state equations and observation equations with attitude quaternion q as state vector.

[0062] S12: The first level of filtering uses the PI adaptive Kalman filter to fuse the angular velocity and acceleration of the second IMU, that is, to introduce the PI adaptive parameters , the observation noise covariance matrix is ​​corrected in real time through the PI control algorithm; the prior state estimate of q is obtained and the correction factor of the first stage filter ,according to and Calculate the posterior state estimate of the first-stage filter Finally, according to the conversion formula between attitude quaternion and Euler angle, through Calculate the pitch angle of hook 5 and roll angle .

[0063] S13: Second level filtering, Kalman filtering based on magnetic field strength data to obtain the correction factor of the second level filtering ,according to and Calculate the posterior state estimate of the second-stage filter Finally, according to the conversion formula between attitude quaternion and Euler angle, through Solve to get the yaw angle of the hook .

[0064] S2: By measuring the distances between the first UWB tag 31 and the first UWB base station 12, the second UWB base station 71, and the third UWB base station 61, respectively, and measuring the distances between the second UWB tag 532 and the first UWB base station 12, the second UWB base station 71, and the third UWB base station 61, respectively, combined with the roll angle of the hook 5 Calculate the three-dimensional spatial position of the hook 5 and the inclination of the rope, such as Figure 7 As shown, the following steps are included:

[0065] S21: Constructing the coordinate system for tower crane hoisting operations .

[0066] The first UWB base station 12 is taken as the origin O of the coordinate system, and the line between the first UWB base station 12 and the second UWB base station 71 is taken as the axis , the line between the first UWB base station 12 and the third UWB base station 61 is the coordinate system Axis, with the first UWB base station 12 as the origin, perpendicular to A straight line in the plane, which is Axis, used as the tower crane hoisting operation coordinate system .

[0067] Working coordinate system In the example, the direction from the first UWB base station 12 to the second UWB base station 71 is The positive direction of the axis is the direction from the first UWB base station 12 to the third UWB base station 61. The positive direction of the axis is determined by the right-hand rule The positive direction of the axis, when the thumb of the right hand points to The positive direction of the axis (the direction from the first UWB base station 12 to the second UWB base station 71), the index finger points to The positive direction of the axis (the direction from the first UWB base station 12 to the third UWB base station 61), the direction pointed by the middle finger of the right hand is Positive axis direction.

[0068] The tower crane hoisting operation coordinate system will rotate around the The axis rotates, so the tower crane hoisting operation coordinate system changes in real time With reference coordinate system The transformation relationship is as follows:

[0069]

[0070] in, The yaw angle of the boom 2 is calculated based on the PI adaptive two-stage Kalman filter algorithm according to the acceleration, angular velocity and magnetic field strength measured by the first IMU 111. , the specific calculation method and determination of hook 5 yaw angle The method is the same as that of step S1, which will not be described in detail here.

[0071] S22: Calculate the vehicle in the reference coordinate system Coordinates in .

[0072] Obtain the distance D between the first UWB tag 31 and the first UWB base station 12. Since the trolley 3 only moves in translation on the boom 2, the distance D is the distance between the trolley 3 and the cab 1, and then obtain the distance D between the trolley 3 and the reference coordinate system. Coordinates in , the calculation process is as follows:

[0073]

[0074] S23: Calculate the coordinates of the second UWB tag in the reference coordinate system .

[0075] S231: Coordinates of the first UWB base station 12, the second UWB base station 71, and the third UWB base station 61 in the tower crane hoisting operation coordinate system , , They are , , ,in is the distance between the first UWB base station 12 and the second UWB base station 71, is the distance between the first UWB base station 12 and the third UWB base station 61 .

[0076] The operating coordinate system is converted into a reference coordinate system. The coordinates of the first UWB base station 12, the second UWB base station 71, and the third UWB base station 61 in the reference coordinate system are respectively , , .

[0077] S232: According to the coordinates of the first UWB base station, the second UWB base station, and the third UWB base station in the reference coordinate system, the coordinates of the second UWB tag in the reference coordinate system are obtained by using the Taylor algorithm. .

[0078] Since only three UWB base stations are deployed, the above calculation may obtain the coordinates of the two second UWB tags in the reference coordinate system: and , is a positive value. At this time, it is necessary to adjust the hook roll angle The positive or negative situation of the second UWB tag 534 is selected correctly. , then the coordinates of the second UWB tag in the reference coordinate system are ,like , then the coordinates of the second UWB tag in the reference coordinate system are .

[0079] S24: According to the posture of the hook 5 (yaw angle , Pitch angle and roll angle ) Construct the rotation matrix R, convert the acceleration vector of the second IMU into the acceleration vector in the reference coordinate system through the rotation matrix R, and then calculate the prior coordinates of the hook 5 in the reference coordinate system .

[0080] S25: Adopt PI adaptive Kalman filter algorithm to integrate the prior coordinates of hook 5 in the reference coordinate system And the coordinates of the second UWB tag in the reference coordinate system ,by and The difference between Perform calibration to obtain the three-dimensional spatial position of the hook .

[0081] S26: Calculate the inclination angle of the suspension rope 8:

[0082] .

[0083] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time measurement method for the three-dimensional position and posture of a tower crane hook, characterized in that: The steps include: Based on the angular velocity, acceleration and magnetic field strength obtained by the second IMU, the pitch angle, roll angle and yaw angle of the hook, that is, the hook attitude, are calculated through the PI adaptive two-stage Kalman filter algorithm; Get the distance between the first UWB tag and the first UWB base station, which is the distance between the car and the cab, and then get the coordinates of the car in the reference coordinate system ;include: According to the distance between the trolley and the cab, the coordinates of the trolley in the operating coordinate system are obtained; the operating coordinate system is a spatial rectangular coordinate system constructed with the first UWB base station at the current moment as the origin, the line between the first UWB base station and the second UWB base station as the X-axis, and the line between the first UWB base station and the third UWB base station as the Y-axis; Based on the angular velocity, acceleration and magnetic field strength obtained by the first IMU, the yaw angle of the boom is calculated through the PI adaptive two-stage Kalman filter algorithm. The first IMU is installed in the cab; the transformation relationship from the working coordinate system to the reference coordinate system is determined according to the yaw angle of the boom, and then the coordinates of the vehicle in the reference coordinate system are obtained. ; Based on the positions of the first UWB base station, the second UWB base station and the third UWB base station, the coordinates of the second UWB tag in the reference coordinate system are calculated. ; Based on the hook posture and the acceleration obtained by the second IMU, the prior coordinates of the hook in the reference coordinate system are calculated. ; Based on the prior coordinates of the hook in the reference coordinate system And the coordinates of the second UWB tag in the reference coordinate system , the three-dimensional spatial position of the hook is calculated by the PI adaptive Kalman filter algorithm ; Based on the three-dimensional spatial position of the hook And the coordinates of the car The inclination angle of the lifting rope is calculated, thereby obtaining the three-dimensional position of the hook including the hook posture, the three-dimensional spatial position of the hook and the inclination angle of the lifting rope; The first UWB base station, the second UWB base station and the third UWB base station are respectively installed in the cab, the front end of the boom and the foundation of the tower crane, the first UWB tag and the second UWB tag are respectively installed on the trolley and the hook, and the first UWB tag and the second UWB tag are connected to the first UWB base station, the second UWB base station and the third UWB base station through wireless communication; the second IMU is installed at the hook; the reference coordinate system is a spatial rectangular coordinate system constructed with the first UWB base station as the origin at the initial moment, the line between the first UWB base station and the second UWB base station as the X-axis, and the line between the first UWB base station and the third UWB base station as the Y-axis.

2. The method for real-time measurement of the three-dimensional position and posture of a tower crane hook according to claim 1, characterized in that: Based on the positions of the first UWB base station, the second UWB base station, and the third UWB base station, the coordinates of the second UWB tag in the reference coordinate system are calculated. ,include: Based on the positions of the first UWB base station, the second UWB base station and the third UWB base station, and the transformation relationship from the operating coordinate system to the reference coordinate system, the coordinates of the first UWB base station, the second UWB base station and the third UWB base station in the reference coordinate system are obtained; and then the coordinates of the second UWB tag in the reference coordinate system are calculated by the Taylor algorithm.

3. The method for real-time measurement of the three-dimensional position and posture of a tower crane hook according to claim 2, characterized in that: When the coordinates of the second UWB tag in the reference coordinate system are calculated using the Taylor algorithm, two solutions are obtained; and then the correct coordinates of the second UWB tag are determined based on the positive or negative condition of the hook roll angle.

4. The method for real-time measurement of the three-dimensional position and posture of a tower crane hook according to claim 2, characterized in that: The first IMU and the second IMU both include a gyroscope, an accelerometer and a magnetometer, which are used to collect angular velocity, acceleration and magnetic field strength respectively. Before measurement, the gyroscope is calibrated for zero bias, and the accelerometer and magnetometer are calibrated using the ellipsoid fitting method.

5. The method for real-time measurement of the three-dimensional position and posture of a tower crane hook according to claim 1, characterized in that: Based on the angular velocity, acceleration and magnetic field strength obtained by the second IMU, the posture of the hook is calculated through the PI adaptive two-stage Kalman filter algorithm, including: First-level filtering: Based on the angular velocity and acceleration obtained by the second IMU, the correction factor of the first-level filtering is obtained through the PI adaptive Kalman filter algorithm. ,according to Solve to get the pitch angle of the hook and roll angle ; Second-level filtering: Based on the magnetic field strength obtained by the second IMU, the correction factor of the second-level filtering is obtained through the Kalman filter algorithm. ,according to and Solve to get the yaw angle of the hook.

6. The method for real-time measurement of the three-dimensional position and posture of a tower crane hook according to any one of claims 1 to 5, characterized in that: Based on the three-dimensional spatial position of the hook And the coordinates of the trolley are used to calculate the inclination angle of the suspension rope, which is: in, is the inclination angle of the suspension rope.

7. A real-time measurement system for the three-dimensional position and posture of a tower crane hook, characterized in that: It includes a processor, which is used to execute the real-time measurement method of the three-dimensional posture of the tower crane hook as described in any one of claims 1-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the real-time measurement method for the three-dimensional posture of a tower crane hook is implemented.

9. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the real-time measurement method for the three-dimensional posture of a tower crane hook as described in any one of claims 1 to 6.

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