Method and system for quickly establishing hoisting process for automatic driving tower crane based on RTK (Real Time Kinematic)

Abstract

The invention relates to the technical field of building construction safety, in particular to a method and system for rapidly establishing a hoisting process for an automatic driving tower crane based on RTK. The method comprises the following steps that the position of a tower crane body, the position of a hoisting point and the position of a falling hoisting point are positioned through an RTK handheld positioner, and the positioning is sent to a mobile control end; meanwhile, a field worker makes a hoisting request with a tower crane administrator through an interphone and carries out process examination and approval communication; the mobile control terminal quickly and automatically establishes a hoisting process according to the positioning information, then the hoisting process is checked by a tower crane manager, and after the checking is successful, the hoisting process is sent to the central control system; and the central control system controls the tower crane to move according to the hoisting process, the tower crane firstly reaches the hoisting point to hoist the goods and then moves to the hoisting point with the goods, and finally goods transportation is completed. According to the method, the cargo hoisting point and the cargo dropping point can be accurately determined, so that the dispatching operation efficiency of automatic driving of the tower crane is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction safety, and in particular to a method and system for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving. Background Art

[0002] With the continuous acceleration of the industrial process, aerial work has been widely used in various fields, so tower cranes have become more and more important. Tower cranes have the function of carrying heavy objects when working at high altitudes, which can improve work efficiency and economic benefits. Among them, the hoisting operation of tower cranes is a common and important operation in engineering construction. Correct hoisting operation procedures are crucial to ensuring construction safety and improving work efficiency; in the current automatic driving stage, on-site staff use the construction site CAD drawings to confirm the positions of the lifting and lowering points, and estimate and confirm the current position information based on reference objects such as the tower crane body and building in the CAD drawings. This method has the problems of large errors and difficulty in confirmation; in addition, most tower cranes in this field are manually driven, and the lifting of goods needs to rely entirely on people to operate. The site requires communication between staff and tower crane operators to control the tower crane, which makes the operation efficiency low.

[0003] Therefore, the present invention proposes a method for quickly establishing a hoisting process for an automatic driving tower crane based on RTK to solve the above problems. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention develops a method and system for quickly establishing a hoisting process for a tower crane based on RTK automatic driving. The present invention can solve the problem that the position of goods hoisted on a construction site cannot be accurately confirmed. The lifting point and the lowering point can be quickly determined by an RTK handheld locator, thereby reducing the error in manually confirming the hoisting position and greatly improving the operating efficiency of the hoisting operation on the construction site.

[0005] The technical solution of the present invention to solve the technical problem is a method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving, which is as follows: (1) Use the RTK handheld locator to locate the tower crane body, lifting point and lifting point, and send the location to the mobile control terminal. At the same time, the on-site staff will make a lifting request to the tower crane administrator through the intercom and communicate about the process approval; (2) The mobile control terminal quickly and automatically establishes the hoisting process according to the positioning, and then the tower crane administrator reviews the hoisting process. After the review is successful, the hoisting process is sent to the central control system; (3) The central control system controls the movement of the tower crane according to the lifting process. The tower crane first reaches the lifting point to lift the cargo, then moves to the landing point with the cargo, and finally completes the transportation of the cargo.

[0006] Step (1) is as follows: The tower crane body is positioned through the RTK handheld locator, and the positioning longitude, latitude and altitude data are uploaded to the cloud platform. The cloud platform sends the tower crane body positioning information to the mobile control terminal. At the same time, according to the hoisting requirements of the construction site, the on-site staff use the RTK handheld locator to locate the position near the cargo lifting point and the landing point, and transmit the positioning information to the cloud platform. The cloud platform then sends the positioning information of the lifting point and the landing point to the mobile control terminal. The on-site staff then communicates with the tower crane administrator for process approval through the walkie-talkie.

[0007] The communication connection between the RTK handheld locator and the mobile controller is 4G or 5G network and local area network; The positioning coordinates are the longitude, latitude, and altitude of the RTK handheld locator. The longitude, latitude, and altitude of the tower crane are expressed as , and , the longitude, latitude and altitude of the lifting point are expressed as , and , the longitude, latitude and altitude of the drop point are expressed as , and .

[0008] Step (2) is as follows: After the hoisting request is sent, the mobile control terminal regularly accesses the RTK background server interface through the 4G or 5G network to obtain the longitude, latitude and altitude information sent by the RTK handheld locator. The mobile control terminal automatically calculates the azimuth and straight-line distance between the lifting point or the lifting point and the tower crane body according to the longitude, latitude and altitude of the tower crane body. According to the proportional relationship between the actual distance and the map, the system automatically displays the three positioning points in the operation map on the display screen of the mobile control terminal; The hoisting process is that the tower crane first moves from the current position to the lifting point, and then moves from the lifting point to the landing point after loading the cargo. Then, the actual relative distance, azimuth and altitude difference between the tower crane body and the lifting point, and the actual relative distance, azimuth and altitude difference between the tower crane body and the landing point are calculated according to the longitude, latitude and altitude. The tower crane administrator will then review the hoisting process. After the review is successful, the system will automatically send the hoisting process to the central control system.

[0009] The specific process of the lifting process is as follows: The map displayed on the mobile control terminal uses the rule that north is at the top, south is at the bottom, west is on the left, east is on the right, and true north is 0 degrees; The lifting point and the landing point are the target points of the tower crane. The positions of the lifting point and the landing point are spatially located through the RTK handheld locator. The mobile control terminal obtains RTK background data regularly. According to the longitude and latitude of the tower crane body and the altitude information of the target point, the angle, amplitude and height difference between the target point and the tower crane are calculated. The lifting process is automatically established according to the calculated information. The tower crane first executes the command to move to the lifting point. The tower crane hook will move from the current position to the lifting point. The lifting point is the current target point of the tower crane. After the cargo is loaded, the mobile control terminal is notified to send the next target point through the one-button hook lifting button. After receiving it, the mobile control terminal will send the command to move to the landing point. The landing point is the current target point of the tower crane. The tower crane hook will move from the lifting point to the landing point. After the cargo is unloaded, the lifting task is completed. The longitude, latitude and altitude of the target point are expressed as , and , , , ; The angle, amplitude and height difference between the current target point and the tower crane are calculated as follows: 1) Angle: , in, Indicates the angle between the current target point and the tower crane; 2) Amplitude variation: Convert longitude and latitude to radians: , , , , in, and The longitude and latitude of the tower crane are expressed in radians. and Represents the longitude and latitude of the current target point in radians; Haversine Formula to calculate the amplitude : , Among them, R represents the radius of the earth, which is approximately 6371 kilometers; 3) Height difference: , in Indicates the altitude difference between the tower crane boom and the current target point.

[0010] The present invention also provides a system for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving, and a method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving, including the following modules: RTK handheld locator module: used to obtain the three-dimensional spatial positioning of the tower crane, lifting point and landing point, and send it to the mobile control terminal module; Communication module: including 4G / 5G network module and local area network, through which the 3D spatial positioning information of the RTK handheld locator module is sent to the mobile control terminal module. The 3D spatial positioning information includes longitude, latitude and altitude information; Mobile control terminal module: receives the three-dimensional spatial positioning sent by the RTK handheld locator, processes the data, automatically establishes the hoisting process, and then sends the hoisting process to the central control system; Central control system: accepts the hoisting process tasks sent by the mobile control terminal module, issues motion instructions to the tower crane, and controls the automatic driving operation of the tower crane; The system for autonomous driving to quickly establish a lifting process based on RTK positioning includes the following hardware and software components: mobile control terminal, RTK handheld locator, and micro-controller.

[0011] The effects provided in the content of the invention are only the effects of the embodiments, rather than all the effects of the invention. The above technical solution has the following advantages or beneficial effects: The present invention proposes a method and system for tower crane automatic driving to quickly establish a hoisting process based on RTK. The RTK handheld locator has one-button call and voice intercom functions, which can quickly perform three-dimensional positioning of the current position and automatically transmit the three-dimensional spatial positioning data to the mobile control terminal. The mobile control terminal has a powerful algorithm capability, which performs data calculation on the three-dimensional spatial coordinates transmitted by the RTK handheld locator and automatically establishes a hoisting process. The micro-controller has the function of fine-tuning the tower crane. After completing the hoisting task, the micro-controller can be used to lift the hook with one button to proceed to the next task process. The hoisting process is quickly established through the cooperation of modules such as the RTK handheld locator, the mobile control terminal, and the micro-controller, thereby reducing manual positioning errors, improving the hoisting operation efficiency of the construction site, and improving the operating efficiency of the crane, thereby saving energy and reducing costs. It plays a significant role in the automatic hoisting operation of the tower crane. In addition, reducing the hoisting process of manual operation can also reduce the risk of accidents and ensure the life safety of the staff and the integrity of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0013] Figure 1 Schematic diagram of the process of the present invention.

[0014] Figure 2 It is a schematic diagram of the structure of the system in the present invention. DETAILED DESCRIPTION

[0015] In order to clearly illustrate the technical features of the present invention, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below.

[0016] Example 1 like Figure 1 As shown in the figure, a method for quickly establishing a hoisting process for an automatic driving tower crane based on RTK is as follows: (1) Use the RTK handheld locator to locate the tower crane body, lifting point and lifting point, and send the location to the mobile control terminal. At the same time, the on-site staff will make a lifting request to the tower crane administrator through the intercom and communicate about the process approval; (2) The mobile control terminal quickly and automatically establishes the hoisting process according to the positioning, and then the tower crane administrator reviews the hoisting process. After the review is successful, the hoisting process is sent to the central control system; (3) The central control system controls the movement of the tower crane according to the lifting process. The tower crane first reaches the lifting point to lift the cargo, then moves to the landing point with the cargo, and finally completes the transportation of the cargo.

[0017] Step (1) is as follows: The tower crane body is positioned through the RTK handheld locator, and the positioning longitude, latitude and altitude data are uploaded to the cloud platform. The cloud platform sends the tower crane body positioning information to the mobile control terminal. At the same time, according to the hoisting requirements of the construction site, the on-site staff use the RTK handheld locator to locate the position near the cargo lifting point and the landing point, and transmit the positioning information to the cloud platform. The cloud platform then sends the positioning information of the lifting point and the landing point to the mobile control terminal. The on-site staff then communicates with the tower crane administrator for process approval through the walkie-talkie.

[0018] The communication connection between the RTK handheld locator and the mobile controller is 4G or 5G network and local area network; The positioning coordinates are the longitude, latitude, and altitude of the RTK handheld locator. The longitude, latitude, and altitude of the tower crane are expressed as , and , the longitude, latitude and altitude of the lifting point are expressed as , and , the longitude, latitude and altitude of the drop point are expressed as , and .

[0019] Step (2) is as follows: After the hoisting request is sent, the mobile control terminal regularly accesses the RTK background server interface through the 4G or 5G network to obtain the longitude, latitude and altitude information sent by the RTK handheld locator. The mobile control terminal automatically calculates the azimuth and straight-line distance between the lifting point or the lifting point and the tower crane body according to the longitude, latitude and altitude of the tower crane body. According to the proportional relationship between the actual distance and the map, the system automatically displays the three positioning points in the operation map on the display screen of the mobile control terminal; The hoisting process is that the tower crane first moves from the current position to the lifting point, and then moves from the lifting point to the landing point after loading the cargo. Then, the actual relative distance, azimuth and altitude difference between the tower crane body and the lifting point, and the actual relative distance, azimuth and altitude difference between the tower crane body and the landing point are calculated according to the longitude, latitude and altitude. The tower crane administrator will then review the hoisting process. After the review is successful, the system will automatically send the hoisting process to the central control system.

[0020] The specific process of the lifting process is as follows: The map displayed on the mobile control terminal uses the rule that north is at the top, south is at the bottom, west is on the left, east is on the right, and true north is 0 degrees; The lifting point and the landing point are the target points of the tower crane. The positions of the lifting point and the landing point are spatially located through the RTK handheld locator. The mobile control terminal obtains RTK background data regularly. According to the longitude and latitude of the tower crane body and the altitude information of the target point, the angle, amplitude and height difference between the target point and the tower crane are calculated. The lifting process is automatically established according to the calculated information. The tower crane first executes the command to move to the lifting point. The tower crane hook will move from the current position to the lifting point. The lifting point is the current target point of the tower crane. After the cargo is loaded, the mobile control terminal is notified to send the next target point through the one-button hook lifting button. After receiving it, the mobile control terminal will send the command to move to the landing point. The landing point is the current target point of the tower crane. The tower crane hook will move from the lifting point to the landing point. After the cargo is unloaded, the lifting task is completed. The longitude, latitude and altitude of the target point are expressed as , and , , , ; The angle, amplitude and height difference between the current target point and the tower crane are calculated as follows: 1) Angle: , in, Indicates the angle between the current target point and the tower crane; 2) Amplitude variation: Convert longitude and latitude to radians: , , , , in, and The longitude and latitude of the tower crane are expressed in radians. and Represents the longitude and latitude of the current target point in radians; Haversine Formula to calculate the amplitude : , Among them, R represents the radius of the earth, which is approximately 6371 kilometers; 3) Height difference: , in Indicates the altitude difference between the tower crane boom and the current target point.

[0021] The operation process is as follows: (1) The tower crane body is positioned using the RTK handheld locator, and the positioning longitude and latitude data are uploaded to the cloud platform. The cloud platform sends the tower crane body positioning data to the mobile control terminal. According to the hoisting requirements of the construction site, the on-site staff use the RTK handheld locator near the cargo lifting and lowering points to request hoisting requirements, and communicate with the tower crane administrator through the intercom for process approval; (2) After the lifting request is sent, the mobile control terminal obtains the three-dimensional spatial coordinate information sent by the RTK handheld locator. The system automatically calculates the actual relative distance and altitude difference between the current lifting point or the landing point and the tower crane body, and then automatically calculates the azimuth relative to the tower crane body based on the longitude and latitude information. The system automatically displays the positioning point on the mobile control terminal based on the relative distance and azimuth relative to the tower crane body through the map ratio relationship on the mobile control terminal display screen. The mobile control terminal automatically establishes the lifting process based on the three-dimensional spatial positioning coordinates of the lifting point and the landing point. The tower crane administrator then reviews the lifting process. After the review is successful, the system automatically sends the lifting process to the central control system. (3) After the central control system receives the activation task of the lifting point or the lowering point, it controls the movement of the tower crane in sequence according to the three-dimensional spatial coordinates of the lifting point or the lowering point. After reaching the designated point, it automatically controls the tower crane to lower and realize the lifting operation.

[0022] Example 2 like Figure 2 As shown, a system for quickly establishing a hoisting process for an automatic driving tower crane based on RTK, and a method for quickly establishing a hoisting process for an automatic driving tower crane based on RTK are implemented, including the following modules: RTK handheld locator module: used to obtain the three-dimensional spatial positioning of the tower crane, lifting point and landing point, and send it to the mobile control terminal module; Communication module: including 4G / 5G network module and local area network, through which the 3D spatial positioning information of the RTK handheld locator module is sent to the mobile control terminal module. The 3D spatial positioning information includes longitude, latitude and altitude information; Mobile control terminal module: receives the three-dimensional spatial positioning sent by the RTK handheld locator, processes the data, automatically establishes the hoisting process, and then sends the hoisting process to the central control system; Central control system: accepts the hoisting process tasks sent by the mobile control terminal module, issues motion instructions to the tower crane, and controls the automatic driving operation of the tower crane; The system for autonomous driving to quickly establish a lifting process based on RTK positioning includes the following hardware and software components: mobile control terminal, RTK handheld locator, and micro-controller.

[0023] Example 3 The present invention is applied to actual operation. During the automatic driving installation stage of the tower crane, the RTK handheld locator is used to obtain the longitude and latitude information of the tower crane body and the altitude information of the tower arm. The data is stored in the cloud background, and the cloud background is automatically distributed to each mobile control terminal system according to the tower crane number; During the automatic driving use stage of the tower crane, the construction site needs to lift the goods from area A to area B. At this time, area A is the lifting point of the automatic driving system, and area B is the landing point of the automatic driving system. The on-site staff uses the RTK handheld locator to perform data positioning in area A. After the positioning data is collected, the walkie-talkie is used to inform the staff at the landing point to perform data positioning. All data information is sent to the cloud background and the mobile control terminal system respectively. After the staff at the landing point completes the data collection, the walkie-talkie is used to inform the tower crane administrator to establish the task process. After the tower crane administrator reviews whether the current lifting point and the landing point can be used for lifting operations, click Add to establish the lifting process. After the process is confirmed, the tower crane hook moves from the current position to the lifting point area A, and the hook drops to a safe height. After waiting for the goods to be fixed, the on-site staff clicks the one-button lifting hook of the micro controller, and the tower crane will run to the landing point area B with the goods, drive to a safe height, unload the goods, and complete the lifting process.

[0024] Although the above describes the specific implementation mode of the invention in conjunction with the drawings, it is not intended to limit the scope of protection of the invention. Based on the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present invention.

Claims

1. A method for quickly establishing a hoisting process for an automatic driving tower crane based on RTK, characterized in that: The following steps are involved: (1) Use the RTK handheld locator to locate the tower crane body, lifting point and lifting point, and send the location to the mobile control terminal. At the same time, the on-site staff will make a lifting request to the tower crane administrator through the intercom and communicate about the process approval; (2) The mobile control terminal quickly and automatically establishes the hoisting process according to the positioning, and then the tower crane administrator reviews the hoisting process. After the review is successful, the hoisting process is sent to the central control system; (3) The central control system controls the movement of the tower crane according to the lifting process. The tower crane first reaches the lifting point to lift the cargo, then moves to the landing point with the cargo, and finally completes the transportation of the cargo.

2. The method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving according to claim 1 is characterized in that: Step (1) is as follows: The tower crane body is positioned through the RTK handheld locator, and the positioning longitude, latitude and altitude data are uploaded to the cloud platform. The cloud platform sends the tower crane body positioning information to the mobile control terminal. At the same time, according to the hoisting requirements of the construction site, the on-site staff use the RTK handheld locator to locate the position near the cargo lifting point and the landing point, and transmit the positioning information to the cloud platform. The cloud platform then sends the positioning information of the lifting point and the landing point to the mobile control terminal. The on-site staff then communicates with the tower crane administrator for process approval through the walkie-talkie.

3. The method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving according to claim 2, characterized in that: The communication connection between the RTK handheld locator and the mobile controller is 4G or 5G network and local area network; The positioning coordinates are the longitude, latitude, and altitude of the RTK handheld locator. The longitude, latitude, and altitude of the tower crane are expressed as , and , the longitude, latitude and altitude of the lifting point are expressed as , and , the longitude, latitude and altitude of the drop point are expressed as , and .

4. The method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving according to claim 3 is characterized in that: Step (2) is as follows: After the hoisting request is sent, the mobile control terminal regularly accesses the RTK background server interface through the 4G or 5G network to obtain the longitude, latitude and altitude information sent by the RTK handheld locator. The mobile control terminal automatically calculates the azimuth and straight-line distance between the lifting point or the lifting point and the tower crane body according to the longitude, latitude and altitude of the tower crane body. According to the proportional relationship between the actual distance and the map, the system automatically displays the three positioning points in the operation map on the display screen of the mobile control terminal; The hoisting process is that the tower crane first moves from the current position to the lifting point, and then moves from the lifting point to the landing point after loading the cargo. Then, the actual relative distance, azimuth and altitude difference between the tower crane body and the lifting point, and the actual relative distance, azimuth and altitude difference between the tower crane body and the landing point are calculated according to the longitude, latitude and altitude. The tower crane administrator will then review the hoisting process. After the review is successful, the system will automatically send the hoisting process to the central control system.

5. The method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving according to claim 4 is characterized in that: The specific process of the lifting process is as follows: The map displayed on the mobile control terminal uses the rule that north is at the top, south is at the bottom, west is on the left, east is on the right, and true north is 0 degrees; The lifting point and the landing point are the target points of the tower crane. The positions of the lifting point and the landing point are spatially located through the RTK handheld locator. The mobile control terminal obtains RTK background data regularly. According to the longitude and latitude of the tower crane body and the altitude information of the target point, the angle, amplitude and height difference between the target point and the tower crane are calculated. The lifting process is automatically established according to the calculated information. The tower crane first executes the command to move to the lifting point. The tower crane hook will move from the current position to the lifting point. The lifting point is the current target point of the tower crane. After the cargo is loaded, the mobile control terminal is notified to send the next target point through the one-button hook lifting button. After receiving it, the mobile control terminal will send the command to move to the landing point. The landing point is the current target point of the tower crane. The tower crane hook will move from the lifting point to the landing point. After the cargo is unloaded, the lifting task is completed. The longitude, latitude and altitude of the target point are expressed as , and , , , ; The angle, amplitude and height difference between the current target point and the tower crane are calculated as follows: 1) Angle: ， in, Indicates the angle between the current target point and the tower crane; 2) Amplitude variation: Convert longitude and latitude to radians: ， ， ， ， in, and The longitude and latitude of the tower crane are expressed in radians. and Represents the longitude and latitude of the current target point in radians; Haversine Formula to calculate the amplitude : , Among them, R represents the radius of the earth, which is approximately 6371 kilometers; 3) Height difference: , in Indicates the altitude difference between the tower crane boom and the current target point.

6. A system for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving, executing a method for quickly establishing a hoisting process for a tower crane based on RTK for automatic driving as claimed in any one of claims 1 to 5, characterized in that: Includes the following modules: RTK handheld locator module: used to obtain the three-dimensional spatial positioning of the tower crane, lifting point and landing point, and send it to the mobile control terminal module; Communication module: including 4G / 5G network module and local area network, through which the 3D spatial positioning information of the RTK handheld locator module is sent to the mobile control terminal module. The 3D spatial positioning information includes longitude, latitude and altitude information; Mobile control terminal module: receives the three-dimensional spatial positioning sent by the RTK handheld locator, processes the data, automatically establishes the hoisting process, and then sends the hoisting process to the central control system; Central control system: accepts the hoisting process tasks sent by the mobile control terminal module, issues motion instructions to the tower crane, and controls the automatic driving operation of the tower crane; The system for autonomous driving to quickly establish a lifting process based on RTK positioning includes the following hardware and software components: mobile control terminal, RTK handheld locator, and micro-controller.

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