Crane work control method and system based on Beidou positioning and application of crane work control method and system

Abstract

The invention discloses a crane working control method and system based on Beidou positioning and application of the crane working control method and system. According to the scheme, feature parts of a tower crane are positioned in real time through a Beidou positioning module, so that the positions of the feature parts can be updated in time when the crane works, and the working efficiency of the crane is improved. The motion state data of the characteristic parts of the crane can be further obtained by combining with the inertial measurement unit deployed on the crane, and the working state of the crane can be further tracked after the motion state data and the positioning data are fused, so that the working state of the crane can be tracked when a plurality of cranes in a working site serve at the same time; the working interference between the tower cranes can be reduced, and early warning can be provided for background management personnel; in addition, according to the scheme, the possible working range is obtained by simulating the operation instruction, whether the problem of working interference exists or not is judged according to the intersection of action track functions between different cranes, and a mechanism guarantee is provided for safe working of the cranes in a working site.

Description

Technical Field

[0001] The present invention relates to the fields of Beidou positioning technology, crane operation control, and crane instruction management technology, and in particular to a crane operation control method and system based on Beidou positioning and applications thereof. Background Art

[0002] Cranes are widely used in ports, docks, construction sites and other places due to their strong transfer capacity and stable operation. Tower cranes are a typical type of cranes. When used in construction sites and port dock transfer areas, they do not have the ability to move their main body. Therefore, their working range is often a circular area that can be covered by their own tower body as the axis and the arm length of the crane arm as the rotation radius. For some high-frequency application of transfer equipment sites, it is not uncommon to deploy multiple tower cranes with certain overlapping working ranges. How to control the stable operation of multiple tower cranes and to warn of work interference is very critical in this scenario. At present, most application sites monitor the working parameters and operation screen of the crane. There is still a certain lag in the monitoring of the posture and position of characteristic components of the tower crane. There is also a rare literature that discloses the prediction of the work execution instructions of the tower crane to provide a safety warning solution. Summary of the invention

[0003] In view of this, the purpose of the present invention is to propose a crane work control method, system and application based on Beidou positioning, which is reliable in implementation, flexible in application, can timely and efficiently monitor and warn the movement state of a tower crane during operation, and can also verify the execution safety of control instructions according to remote control instructions.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0005] A crane operation control method based on Beidou positioning is used for the operation control of a tower crane. There are multiple tower cranes deployed in a work site. Multiple Beidou positioning modules and multiple inertial measurement units are deployed on the characteristic components of the tower crane. The control method includes:

[0006] S01, responding to a work start signal of a tower crane, establishing communication with a Beidou satellite through a plurality of Beidou positioning modules on the crane, using the Beidou positioning modules to receive Beidou satellite signals to locate characteristic components of the crane, and generating positioning data;

[0007] S02, collecting data on the motion state of characteristic components of the crane through a plurality of the inertial measurement units to generate motion state data;

[0008] S03, fusing the positioning data with the motion state data to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, and aggregating them to generate characteristic component state information;

[0009] S04. Based on the characteristic component status information, a digital twin model based on the work site is constructed, multiple tower cranes are mapped into the digital twin model, and their working status is displayed according to their corresponding characteristic component status information;

[0010] S05. Acquire the status information of characteristic components of multiple tower cranes in the work site in real time, and make work interference judgments according to preset conditions. When the work interference judgment results indicate that there is an abnormality between the tower cranes, generate and output warning information; at the same time, mark the tower cranes with work interference with warnings in the digital twin model.

[0011] As a possible implementation mode, further, the characteristic components described in this solution include: a crane arm, a balance arm, a tower body, a turntable, a hook and / or a boom trolley; multiple Beidou positioning modules and multiple inertial measurement units all have unique ID codes.

[0012] As a possible implementation mode, further, the Beidou positioning module described in this solution is a multi-mode and multi-frequency Beidou receiver, which can receive BDS and one or more satellite signals of GPS, GLONASS and Galileo in addition to BDS.

[0013] As a preferred implementation method, in the present solution S01, each of the Beidou positioning modules generates a set of positioning data corresponding to it; the positioning data is also calibrated by carrier phase differential technology RTK;

[0014] Beidou positioning model is used as a receiver, and its measured pseudorange can be defined by the following formula:

[0015] P r =ρ+c·(δ t -δ T )+I+T+∈

[0016] Among them, P r is the pseudorange measured by the receiver, that is, the satellite signal propagation distance measured by the receiver; ρ is the true distance between the satellite and the receiver, c is the speed of light in vacuum, δ t is the receiver clock error, δ T is the satellite clock error, I is the ionospheric delay, T is the tropospheric delay, ∈ is the measurement noise and multipath error;

[0017] The carrier phase differential RTK technology uses the dual antenna collaborative measurement of the base station and the mobile station, and uses the integer ambiguity of the carrier phase to perform error correction. The differential correction formula is defined as follows:

[0018] ΔΦ=Δρ+λN+∈

[0019] Among them, ΔΦ is the carrier phase difference between the base station and the mobile station, Δρ is the distance difference between the base station and the mobile station and the satellite; λ is the carrier wavelength, N is the integer ambiguity, and ∈ is the noise and measurement error; the base station is a base station with a known position, and the Beidou positioning module is set as a mobile station. The differential correction data is calculated in real time by the base station, and then sent to the Beidou positioning module through wireless communication, so that it can perform positioning error correction according to the differential correction data. The formula is defined as follows:

[0020] P ture =P r -ΔΦ

[0021] Among them, P ture is the pseudorange after positioning error correction using differential correction data, P r is the pseudorange measured by the receiver, and ΔΦ is the carrier phase difference between the reference station and the mobile station.

[0022] As a preferred implementation mode, the inertial measurement unit of this solution includes a microprocessor module, an accelerometer, a gyroscope and a magnetometer. The accelerometer is used to measure the linear acceleration of the characteristic component along each axis when the characteristic component is in motion, which reflects the motion state of the characteristic component. The gyroscope is used to measure the angular velocity of the characteristic component when it is in motion, which reflects the rotational motion of the characteristic component; the magnetometer is used to measure the geomagnetic field, which is used to compensate for the drift of the heading angle. The microprocessor module is electrically connected to the accelerometer, gyroscope and magnetometer respectively, and performs preliminary processing and filtering on the data collected by the accelerometer, gyroscope and magnetometer;

[0023] In S02, the motion state data includes the linear acceleration and angular velocity of the characteristic components of the crane.

[0024] As a preferred implementation method, the solution S03 includes: in the process of fusing the positioning data with the motion state data, the state estimation of the characteristic components of the crane is performed by using a Kalman filter;

[0025] Among them, the equation definition of the Kalman filter model during state estimation prediction is as follows:

[0026] X k|k-1 =F k ·X k-1|k-1 +B k ·u k+w k

[0027] Among them, X k|k-1 is the predicted value of the state vector at the current time k; X k-1|k-1 is the state vector at time k-1; F k is the state transfer matrix, which is used to describe the dynamic characteristics from time k-1 to time k; B k is the control input matrix, u k is the control input vector; w k is the process noise;

[0028] The observation equation is defined as follows:

[0029] z k =H k ·X k|k-1 +v k

[0030] Among them, z k is the observation vector, H k is the observation matrix, v k is the observation noise, X k|k-1 is the predicted value of the state vector at the current time k;

[0031] The state update equation is defined as follows:

[0032] X k|k =X k|k-1 +K k (z k -H k ·X k|k-1 )

[0033]

[0034] Among them, K k is the Kalman gain, p k|k-1 is the prediction covariance matrix, R is the observation noise covariance matrix;

[0035] Through iteration, the positioning data obtained by the Beidou positioning module and the motion state data obtained by the inertial measurement unit are integrated to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, which are then aggregated to generate characteristic component state information.

[0036] As a preferred implementation method, it is preferred that, in the characteristic components of the tower crane described in this solution, at least two or more Beidou positioning modules are deployed on the same characteristic component, and the virtual connection line formed by the two or more Beidou positioning modules is located within the edge contour of the corresponding characteristic component, and the position of the Beidou positioning module on the characteristic component of the tower crane on the characteristic component is also recorded and the corresponding module position information is generated;

[0037] The characteristic components of the tower crane are also recorded with their entity contours to generate characteristic component contour information.

[0038] As a preferred implementation method, preferably, in the present solution S03, the method of fusing the positioning data with the motion state data to obtain the posture data of the characteristic components of the crane is one of the following:

[0039] (1) according to the positioning data generated by more than two Beidou positioning modules on the characteristic component of the tower crane, determine its position in the work site, then virtually connect it in a preset order to obtain brief outline information, and then, according to the characteristic component outline information of the characteristic component and the module position information of the Beidou positioning module on the characteristic component, in combination with the brief outline information, invert the posture information of the characteristic component of the crane;

[0040] (2) The characteristic component is deployed with at least three Beidou positioning modules, and the coordinates of three of the Beidou positioning modules are set to A (x1, y1, z1), B (x2, y2, z2), and C (x3, y3, z3); ​​the posture of the characteristic component of the crane is inverted through the relative position relationship between the three Beidou positioning modules;

[0041] First, the vector between the Beidou positioning modules is calculated, which is defined as follows:

[0042]

[0043] Among them, v1 and v2 are the relative position vectors between the three Beidou positioning modules;

[0044] Construct the posture matrix and calculate the normal vector n by the cross product of the two vectors, which is defined as follows:

[0045] n=v1×v2

[0046] Where n is the normal vector of the plane formed by the three Beidou positioning modules;

[0047] The normal vector is normalized to obtain the attitude reference, which is defined as follows:

[0048]

[0049] n unit It is the normal vector of the plane formed by the three Beidou positioning modules after normalization;

[0050] Calculate the attitude angles, which include pitch angle, yaw angle and roll angle, which are defined as follows:

[0051] Pitch Angle:

[0052] Yaw angle: ψ = arctan2(n y , n x )

[0053] Roll Angle:

[0054] Among them, θ, ψ, are pitch angle, yaw angle and roll angle respectively, n z is the component of the normal vector on the z-axis, |n| is the modulus of the normal vector; the yaw angle is used to describe the horizontal rotation angle of the feature component, n x 、n y is the component of the normal vector on the x and y axes; the roll angle is used to describe the roll angle of the characteristic component, v 1Z , v 1x are the components of the relative vector v1 on the z and x axes respectively.

[0055] As a preferred implementation method, the solution S05 includes:

[0056] S051. Acquire the characteristic component status information of multiple tower cranes in the work site in real time, determine the real-time position of the tower crane in the work site, and the characteristic component status information thereof, and then construct a dynamic three-dimensional working range function corresponding to the crane and its characteristic components, that is, a motion trajectory function, whose function model is defined as follows:

[0057] W i (t) = f(x i ,y i , z i ,θ i , ψ i , v i )

[0058] Among them, x i ,y i , z i , is the position coordinate of the characteristic parts of the tower crane, θ i , ψ i is the attitude angle of the characteristic components of the tower crane, v i It is the movement speed of the characteristic parts of the tower crane;

[0059] S052. Based on the time series analysis, it is predicted whether the motion trajectories of the characteristic components of different tower cranes will intersect. The definition is as follows:

[0060] R(t)=W A (t)∩W B (t)

[0061] Among them, WA (t), W B (t) are the motion trajectory functions of different tower cranes;

[0062] Judge the result of R(t). If This means that there will be work interference between the two.

[0063] When the work interference judgment result indicates that there is an abnormality between the tower cranes, an early warning message is generated and output; at the same time, the tower cranes with work interference are marked with early warning in the digital twin model.

[0064] Based on the above, this solution also provides a crane work control system based on Beidou positioning, which is used for the work control of tower cranes. There are multiple tower cranes, which are deployed in the work site, and include:

[0065] A plurality of Beidou positioning modules are deployed on the characteristic components of the tower crane, which respond to the work start signal of the tower crane, establish communication with Beidou satellites through the plurality of Beidou positioning modules on the crane, and use the Beidou positioning modules to receive Beidou satellite signals to locate the characteristic components of the crane and generate positioning data;

[0066] A plurality of inertial measurement units are deployed on the characteristic components of the tower crane, and in response to a work start signal of the tower crane, the plurality of inertial measurement units are used to collect data on the motion state of the characteristic components of the crane to generate motion state data;

[0067] A data fusion unit is used to fuse the positioning data with the motion state data to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, and to aggregate the data to generate characteristic component state information;

[0068] The digital twin unit is used to build a digital twin model based on the work site based on the characteristic component status information, map multiple tower cranes into the digital twin model, and display their working status according to their corresponding characteristic component status information;

[0069] The early warning monitoring unit is used to obtain the status information of characteristic components of multiple tower cranes in the work site in real time, and make work interference judgments according to preset conditions. When the work interference judgment results point to abnormalities between tower cranes, early warning information is generated and output; at the same time, tower cranes with work interference are marked with early warnings in the digital twin model;

[0070] The instruction verification unit is used to receive the operation instruction, analyze it and locate the tower crane pointed to by the operation instruction, and perform safety verification on the action information pointed to by the operation instruction according to the characteristic component status information of the tower crane and the characteristic component status information of other tower cranes in the work site, and generate a verification result. When the verification result points to the execution of the operation instruction, it will interfere with the work of other tower cranes, and generate and output instruction warning information.

[0071] Based on the above, this solution also provides a tower crane work management method based on digital twin, which applies the above-mentioned crane work control method based on Beidou positioning; it also includes:

[0072] S06, receiving the operation instruction, parsing it and locating the tower crane pointed to by the operation instruction, and performing safety verification on the action information pointed to by the operation instruction according to the characteristic component status information of the tower crane and the characteristic component status information of other tower cranes in the work site, and generating a verification result. When the verification result indicates that the execution of the operation instruction will cause work interference with other tower cranes, a command warning information is generated and output;

[0073] S06 includes:

[0074] When parsing the operation instruction, the operation instruction I is converted into a motion state change ΔX, where ΔX=g(I, x current ), where g(·) is the instruction parsing function;

[0075] According to the instruction parsing function, the working range W"(t) of the tower crane after execution is simulated, and its formula is defined as follows:

[0076] W″(t)=f(x i +Δx i ,y i +Δy i , z i +Δz i ,θ i +Δθ i , ψ i +Δψ i , v i +Δv i )

[0077] Among them, x i ,y i , z i , is the position coordinate of the characteristic parts of the tower crane, θ i , ψ i is the attitude angle of the characteristic components of the tower crane, v i is the movement speed of the characteristic components of the tower crane, Δxi , Δy i , Δz i They are the position coordinate variables when the operation instruction is executed, Δθ i , Δψ i They are the attitude angle variables when the operation instruction is executed, Δv i It is the speed variable when the operation instruction is executed;

[0078] The motion trajectory function W of other tower cranes is retrieved within the preset range of the tower crane corresponding to the operation instruction. i (t); then analyze whether the two intersect based on the time series, which is defined as follows:

[0079] R"(t)=W"(t)∩W i (t)

[0080] Where W"(t) is the motion trajectory function of the tower crane when executing the operation instruction, W i (t) is the motion trajectory function of other tower cranes within the preset range of the tower crane corresponding to the operation instruction;

[0081] The result of R"(t) is judged. If This means that there will be work interference between the two.

[0082] When the work interference judgment result indicates that there is an abnormality between the tower cranes, a command warning message is generated and output.

[0083] By adopting the above technical scheme, compared with the prior art, the present invention has the following beneficial effects: the present scheme cleverly uses the Beidou positioning module to locate the characteristic components of the tower crane in real time, so that the location of the characteristic components can be updated in time when the tower crane is working, and the motion state data of the characteristic components of the tower crane can be further obtained in combination with the inertial measurement unit deployed on the tower crane. On this basis, after the motion state data and the positioning data are integrated, the working state of the tower crane can be further tracked, such as the position, posture and / or motion trajectory data of the characteristic components; when multiple tower cranes are in service at the same time in the work site, the work interference between the tower cranes can be reduced, and early warning can be provided for the background management personnel; on this basis, the present scheme also simulates the operation instructions to obtain the possible working range (or expected motion trajectory function), and uses the intersection of the motion trajectory functions between different cranes to determine whether there is a work interference problem, so as to provide a mechanism guarantee for the safe work of multiple tower cranes in the work site. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0085] Figure 1 It is a brief implementation flow chart of the control method of this scheme;

[0086] Figure 2 It is a brief illustration of the deployment of multiple tower cranes in the work site in the control method of this solution;

[0087] Figure 3 This is a brief module connection diagram of the inertial measurement unit in the scheme control method;

[0088] Figure 4 This is a brief flow chart of steps when the control method of this scheme is used in the tower crane work management method;

[0089] Figure 5 It is a simple unit module connection diagram of the scheme control system. DETAILED DESCRIPTION

[0090] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0091] like Figure 1 As shown, this embodiment provides a crane work control method based on Beidou positioning, which is used for the work control of a tower crane. There are multiple tower cranes, which are deployed in a work site (refer to Figure 2 ), a plurality of Beidou positioning modules and a plurality of inertial measurement units are deployed on the characteristic components of the tower crane, and the control method comprises:

[0092] S01, responding to a work start signal of a tower crane, establishing communication with a Beidou satellite through a plurality of Beidou positioning modules on the crane, using the Beidou positioning modules to receive Beidou satellite signals to locate characteristic components of the crane, and generating positioning data;

[0093] S02, collecting data on the motion state of characteristic components of the crane through a plurality of the inertial measurement units to generate motion state data;

[0094] S03, fusing the positioning data with the motion state data to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, and aggregating them to generate characteristic component state information;

[0095] S04. Based on the characteristic component status information, a digital twin model based on the work site is constructed, multiple tower cranes are mapped into the digital twin model, and their working status is displayed according to their corresponding characteristic component status information;

[0096] S05. Acquire the status information of characteristic components of multiple tower cranes in the work site in real time, and make work interference judgments according to preset conditions. When the work interference judgment results indicate that there is an abnormality between the tower cranes, generate and output warning information; at the same time, mark the tower cranes with work interference with warnings in the digital twin model.

[0097] This solution uses the Beidou positioning module to locate the characteristic components of the tower crane in real time, so that the location of the characteristic components can be updated in time when the tower crane is working. Combined with the data obtained by the inertial measurement unit, the working posture of the tower crane can be tracked.

[0098] In terms of the deployment position of the Beidou positioning module and the inertial measurement unit, as a possible implementation mode, further, the characteristic components described in this scheme include: a lifting arm, a balancing arm, a tower body, a turntable, a hook and / or a boom trolley; multiple Beidou positioning modules and multiple inertial measurement units all have unique ID codes.

[0099] In order to improve the working reliability and compatibility of the Beidou positioning module, as a possible implementation method, further, the Beidou positioning module described in this solution is a multi-mode and multi-frequency Beidou receiver, which can receive BDS and one or more satellite signals of GPS, GLONASS and Galileo in addition to BDS.

[0100] In order to improve the accuracy and reliability of the positioning data generated by the Beidou positioning module, as a preferred implementation method, it is preferably selected that in this scheme S01, each Beidou positioning module generates a set of positioning data corresponding to it one by one; the positioning data is also calibrated by carrier phase differential technology RTK.

[0101] In this embodiment, the Beidou positioning model is used as a receiver, and the pseudorange measured by it can be defined by the following formula:

[0102] P r =ρ+c·(δ t -δ T )+I+T+∈

[0103] Among them, P r is the pseudorange measured by the receiver, that is, the satellite signal propagation distance measured by the receiver; ρ is the true distance between the satellite and the receiver, c is the speed of light in vacuum, δ t is the receiver clock error, δ T is the satellite clock error, I is the ionospheric delay, T is the tropospheric delay, ∈ is the measurement noise and multipath error;

[0104] The carrier phase differential RTK technology uses the dual antenna collaborative measurement of the base station and the mobile station, and uses the integer ambiguity of the carrier phase to perform error correction. The differential correction formula is defined as follows:

[0105] ΔΦ=Δρ+λN+∈

[0106] Among them, ΔΦ is the carrier phase difference between the base station and the mobile station, Δρ is the distance difference between the base station and the mobile station and the satellite; λ is the carrier wavelength, N is the integer ambiguity, and ∈ is the noise and measurement error; the base station is a base station with a known position, and the Beidou positioning module is set as a mobile station. The differential correction data is calculated in real time by the base station, and then sent to the Beidou positioning module through wireless communication, so that it can perform positioning error correction according to the differential correction data. The formula is defined as follows:

[0107] P ture =P r -ΔΦ

[0108] Among them, P ture is the pseudorange after positioning error correction using differential correction data, P r is the pseudorange measured by the receiver, and ΔΦ is the carrier phase difference between the reference station and the mobile station.

[0109] In terms of the data collected by the inertial measurement unit, as a preferred implementation method, it is preferred to combine Figure 3 As shown, the inertial measurement unit described in this scheme includes a microprocessor module, an accelerometer, a gyroscope and a magnetometer. The accelerometer is used to measure the linear acceleration along each axis when the characteristic component is in motion, which reflects the motion state of the characteristic component. The gyroscope is used to measure the angular velocity of the characteristic component when it is in motion, which reflects the rotational motion of the characteristic component; the magnetometer is used to measure the geomagnetic field, which is used to compensate for the drift of the heading angle. The microprocessor module is electrically connected to the accelerometer, gyroscope and magnetometer, respectively, and performs preliminary processing and filtering on the data collected by the accelerometer, gyroscope and magnetometer.

[0110] Based on the above, in the present solution S02, the motion state data includes the linear acceleration and angular velocity of the characteristic components of the crane.

[0111] In this solution, in order to improve the accuracy of determining the attitude and motion state of the tower crane, this solution fuses the positioning data generated by the Beidou positioning unit on the tower crane and the motion state data generated by the inertial measurement unit, as a preferred implementation method, preferably selected, this solution S03 includes: in the process of fusing the positioning data with the motion state data, the state of the characteristic components of the crane is estimated by using a Kalman filter;

[0112] Among them, the equation definition of the Kalman filter model during state estimation prediction is as follows:

[0113] X k|k-1 =F k ·X k-1|k-1 +B k ·u k +w k

[0114] Among them, X k|k-1 is the predicted value of the state vector at the current time k; X k-1|k-1 is the state vector at time k-1; F k is the state transfer matrix, which is used to describe the dynamic characteristics from time k-1 to time k; B k is the control input matrix, u k is the control input vector; w k is the process noise;

[0115] The observation equation is defined as follows:

[0116] z k =H k ·X k|k-1 +v k

[0117] Among them, z k is the observation vector, H k is the observation matrix, v k is the observation noise, X k|k-1 is the predicted value of the state vector at the current time k;

[0118] The state update equation is defined as follows:

[0119] X k|k =X k|k-1 +K k (z k -H k ·X k|k-1 )

[0120]

[0121] Among them, K k is the Kalman gain, P k|k-1is the prediction covariance matrix, R is the observation noise covariance matrix;

[0122] Through iteration, the positioning data obtained by the Beidou positioning module and the motion state data obtained by the inertial measurement unit are integrated to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, which are then aggregated to generate characteristic component state information.

[0123] In order to improve the reliability of positioning and monitoring of characteristic components of tower cranes, as a preferred implementation method, it is preferred that, in the characteristic components of the tower crane described in this solution, at least two or more Beidou positioning modules are deployed on the same characteristic component, and the virtual connection line formed by the two or more Beidou positioning modules is located within the edge contour of the corresponding characteristic component, and the position of the Beidou positioning module on the characteristic component of the tower crane on the characteristic component is also recorded and the corresponding module position information is generated;

[0124] The characteristic components of the tower crane are also recorded with their entity contours to generate characteristic component contour information.

[0125] In the above technical content, as a preferred implementation method, it is preferred that in the present solution S03, the method of fusing the positioning data with the motion state data to obtain the posture data of the characteristic components of the crane is one of the following:

[0126] (1) According to the positioning data generated by more than two Beidou positioning modules on the characteristic component of the tower crane, its position in the work site is determined, and then it is virtually connected in a preset order to obtain brief contour information, and then the posture information of the characteristic component of the crane is inverted according to the characteristic component contour information of the characteristic component and the module position information of the Beidou positioning module on the characteristic component in combination with the brief contour information.

[0127] (2) The characteristic component is deployed with at least three Beidou positioning modules, and the coordinates of three of the Beidou positioning modules are set to A (x1, y1, z1), B (x2, y2, z2), and C (x3, y3, z3); ​​the posture of the characteristic component of the crane is inverted through the relative position relationship between the three Beidou positioning modules;

[0128] First, the vector between the Beidou positioning modules is calculated, which is defined as follows:

[0129]

[0130] Among them, v1 and v2 are the relative position vectors between the three Beidou positioning modules;

[0131] Construct the posture matrix and calculate the normal vector n by the cross product of the two vectors, which is defined as follows:

[0132] n=v1×v2

[0133] Where n is the normal vector of the plane formed by the three Beidou positioning modules;

[0134] The normal vector is normalized to obtain the attitude reference, which is defined as follows:

[0135]

[0136] n unit It is the normal vector of the plane formed by the three Beidou positioning modules after normalization;

[0137] Calculate the attitude angles, which include pitch angle, yaw angle and roll angle, which are defined as follows:

[0138] Pitch Angle:

[0139] Yaw angle: ψ = arctan2(n y , n x )

[0140] Roll Angle:

[0141] Among them, θ, ψ, are pitch angle, yaw angle and roll angle respectively, n z is the component of the normal vector on the z-axis, |n| is the modulus of the normal vector; the yaw angle is used to describe the horizontal rotation angle of the feature component, n x 、n y is the component of the normal vector on the x and y axes; the roll angle is used to describe the roll angle of the characteristic component, v 1Z , v 1x are the components of the relative vector v1 on the z and x axes respectively.

[0142] In terms of work interference warning, as a preferred implementation method, the preferred option is that this solution S05 includes:

[0143] S051. Acquire the characteristic component status information of multiple tower cranes in the work site in real time, determine the real-time position of the tower crane in the work site, and the characteristic component status information thereof, and then construct a dynamic three-dimensional working range function corresponding to the crane and its characteristic components, that is, a motion trajectory function, whose function model is defined as follows:

[0144] W i (t) = f(x i ,y i , z i ,θ i , ψ i , v i )

[0145] Among them, x i ,y i , z i , is the position coordinate of the characteristic parts of the tower crane, θ i , ψ i is the attitude angle of the characteristic components of the tower crane, v i It is the movement speed of the characteristic parts of the tower crane;

[0146] S052. Based on the time series analysis, it is predicted whether the motion trajectories of the characteristic components of different tower cranes will intersect. The definition is as follows:

[0147] R(t)=W A (t)∩W B (t)

[0148] Among them, W A (t), W B (t) are the motion trajectory functions of different tower cranes;

[0149] Judge the result of R(t). If This means that there will be work interference between the two.

[0150] When the work interference judgment result indicates that there is an abnormality between the tower cranes, an early warning message is generated and output; at the same time, the tower cranes with work interference are marked with early warning in the digital twin model.

[0151] Combination Figure 4 As shown, based on the above, this solution also provides a tower crane work management method based on digital twin, which applies the above-mentioned crane work control method based on Beidou positioning; it also includes:

[0152] S06. Receive the operation instruction, parse it and locate the tower crane pointed to by the operation instruction, perform safety verification on the action information pointed to by the operation instruction according to the characteristic component status information of the tower crane and the characteristic component status information of other tower cranes in the work site, and generate a verification result. When the verification result points to the execution of the operation instruction, it will interfere with the work of other tower cranes, and generate and output instruction warning information.

[0153] Specifically, this solution S06 includes:

[0154] When parsing the operation instruction, the operation instruction I is converted into a motion state change ΔX, where ΔX=g(I, x current ), where g(·) is the instruction parsing function;

[0155] According to the instruction parsing function, the working range W"(t) of the tower crane after execution is simulated, and its formula is defined as follows:

[0156] W″(t)=f(x i +Δx i ,y i +Δy i , z i +Δz i ,θ i +Δθ i , ψ i +Δψ i , v i +Δv i )

[0157] Among them, x i ,y i , z i , is the position coordinate of the characteristic parts of the tower crane, θ i , ψ i is the attitude angle of the characteristic components of the tower crane, v i is the movement speed of the characteristic components of the tower crane, Δx i , Δy i , Δz i They are the position coordinate variables when the operation instruction is executed, Δθ i , Δψ i They are the attitude angle variables when the operation instruction is executed, Δv i It is the speed variable when the operation instruction is executed;

[0158] The motion trajectory function W of other tower cranes is retrieved within the preset range of the tower crane corresponding to the operation instruction. i (t); then analyze whether the two intersect based on the time series, which is defined as follows:

[0159] R"(t)=W"(t)∩W i (t)

[0160] Where W"(t) is the motion trajectory function of the tower crane when executing the operation instruction, W i (t) is the motion trajectory function of other tower cranes within the preset range of the tower crane corresponding to the operation instruction;

[0161] The result of R"(t) is judged. If This means that there will be work interference between the two.

[0162] When the work interference judgment result indicates that there is an abnormality between the tower cranes, a command warning message is generated and output.

[0163] This scheme simulates the operating instructions to obtain the possible working range (or expected motion trajectory function), and uses the intersection of the motion trajectory functions between different cranes to determine whether there is a work interference problem, providing a mechanism to ensure the safe work of multiple tower cranes in the workplace.

[0164] Combination Figure 5 As shown, based on the above, this solution also provides a crane work control system based on Beidou positioning, which is used for the work control of tower cranes. The number of tower cranes is multiple and they are deployed in the work site, which includes:

[0165] A plurality of Beidou positioning modules are deployed on the characteristic components of the tower crane, which respond to the work start signal of the tower crane, establish communication with Beidou satellites through the plurality of Beidou positioning modules on the crane, and use the Beidou positioning modules to receive Beidou satellite signals to locate the characteristic components of the crane and generate positioning data;

[0166] A plurality of inertial measurement units are deployed on the characteristic components of the tower crane, and in response to a work start signal of the tower crane, the plurality of inertial measurement units are used to collect data on the motion state of the characteristic components of the crane to generate motion state data;

[0167] A data fusion unit is used to fuse the positioning data with the motion state data to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, and to aggregate the data to generate characteristic component state information;

[0168] The digital twin unit is used to build a digital twin model based on the work site based on the characteristic component status information, map multiple tower cranes into the digital twin model, and display their working status according to their corresponding characteristic component status information;

[0169] The early warning monitoring unit is used to obtain the status information of characteristic components of multiple tower cranes in the work site in real time, and make work interference judgments according to preset conditions. When the work interference judgment results point to abnormalities between tower cranes, early warning information is generated and output; at the same time, tower cranes with work interference are marked with early warnings in the digital twin model;

[0170] The instruction verification unit is used to receive the operation instruction, analyze it and locate the tower crane pointed to by the operation instruction, and perform safety verification on the action information pointed to by the operation instruction according to the characteristic component status information of the tower crane and the characteristic component status information of other tower cranes in the work site, and generate a verification result. When the verification result points to the execution of the operation instruction, it will interfere with the work of other tower cranes, and generate and output instruction warning information.

[0171] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0172] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0173] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A crane work control method based on Beidou positioning, which is used for the work control of a tower crane. There are multiple tower cranes, which are deployed in a work site. Multiple Beidou positioning modules and multiple inertial measurement units are deployed on the characteristic components of the tower crane, characterized in that: The control method comprises: S01, responding to a work start signal of a tower crane, establishing communication with a Beidou satellite through a plurality of Beidou positioning modules on the crane, using the Beidou positioning modules to receive Beidou satellite signals to locate characteristic components of the crane, and generating positioning data; S02, collecting data on the motion state of characteristic components of the crane through a plurality of the inertial measurement units to generate motion state data; S03, fusing the positioning data with the motion state data to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, and aggregating them to generate characteristic component state information; S04. Based on the characteristic component status information, a digital twin model based on the work site is constructed, multiple tower cranes are mapped into the digital twin model, and their working status is displayed according to their corresponding characteristic component status information; S05. Acquire the status information of characteristic components of multiple tower cranes in the work site in real time, and make work interference judgments according to preset conditions. When the work interference judgment results indicate that there is an abnormality between the tower cranes, generate and output warning information; at the same time, mark the tower cranes with work interference with warnings in the digital twin model.

2. The crane operation control method based on Beidou positioning according to claim 1 is characterized in that: The characteristic components include: a crane arm, a balance arm, a tower body, a slewing table, a hook and / or a luffing trolley; the plurality of Beidou positioning modules and the plurality of inertial measurement units each have a unique ID code; The Beidou positioning module is a multi-mode and multi-frequency Beidou receiver, which can receive BDS and one or more satellite signals of GPS, GLONASS and Galileo in addition to BDS.

3. The crane operation control method based on Beidou positioning according to claim 1 or 2, characterized in that: In S01, each of the Beidou positioning modules generates a set of positioning data corresponding to it; the positioning data is also calibrated by carrier phase differential technology RTK; Beidou positioning model is used as a receiver, and its measured pseudorange can be defined by the following formula: P r =ρ+c·(δ t -d T )+I+T+∈ Among them, P r is the pseudorange measured by the receiver, that is, the satellite signal propagation distance measured by the receiver; ρ is the true distance between the satellite and the receiver, c is the speed of light in vacuum, δ t is the receiver clock error, δ r is the satellite clock error, I is the ionospheric delay, T is the tropospheric delay, ∈ is the measurement noise and multipath error; The carrier phase differential RTK technology uses the dual antenna collaborative measurement of the base station and the mobile station, and uses the integer ambiguity of the carrier phase to perform error correction. The differential correction formula is defined as follows: ΔΦ=Δρ+λN+∈ Among them, ΔΦ is the carrier phase difference between the base station and the mobile station, Δρ is the distance difference between the base station and the mobile station and the satellite; λ is the carrier wavelength, N is the integer ambiguity, and ∈ is the noise and measurement error; the base station is a base station with a known position, and the Beidou positioning module is set as a mobile station. The differential correction data is calculated in real time by the base station, and then sent to the Beidou positioning module through wireless communication, so that it can perform positioning error correction according to the differential correction data. The formula is defined as follows: P ture =P r -ΔΦ Among them, P ture is the pseudorange after positioning error correction using differential correction data, P r is the pseudorange measured by the receiver, and ΔΦ is the carrier phase difference between the reference station and the mobile station.

4. The crane operation control method based on Beidou positioning as claimed in claim 3 is characterized in that: The inertial measurement unit includes a microprocessor module, an accelerometer, a gyroscope and a magnetometer. The accelerometer is used to measure the linear acceleration of the characteristic component along each axis when the characteristic component is in motion, which reflects the motion state of the characteristic component. The gyroscope is used to measure the angular velocity of the characteristic component when it is in motion, which reflects the rotational motion of the characteristic component. The magnetometer is used to measure the geomagnetic field, which is used to compensate for the drift of the heading angle. The microprocessor module is electrically connected to the accelerometer, gyroscope and magnetometer respectively, and performs preliminary processing and filtering on the data collected by the accelerometer, gyroscope and magnetometer. In S02, the motion state data includes the linear acceleration and angular velocity of the characteristic components of the crane.

5. The crane operation control method based on Beidou positioning as claimed in claim 4, characterized in that: S03 includes: in the process of fusing the positioning data with the motion state data, using a Kalman filter to estimate the state of the characteristic components of the crane; Among them, the equation definition of the Kalman filter model during state estimation prediction is as follows: X k|k-1 =F k ·X k-1|k-1 +B k ·u k +w k Among them, X k|k-1 is the predicted value of the state vector at the current time k; X k-1|k-1 is the state vector at time k-1; F k is the state transfer matrix, which is used to describe the dynamic characteristics from time k-1 to time k; B k is the control input matrix, u k is the control input vector; w k is the process noise; The observation equation is defined as follows: z k =H k ·X k|k-1 +v k Among them, z k is the observation vector, H k is the observation matrix, v k is the observation noise, X k|k-1 is the predicted value of the state vector at the current time k; The state update equation is defined as follows: X k|k =X k|k-1 +K k (z k -H k ·X k|k-1 ) Among them, K k is the Kalman gain, P k|k-1 is the prediction covariance matrix, R is the observation noise covariance matrix; Through iteration, the positioning data obtained by the Beidou positioning module and the motion state data obtained by the inertial measurement unit are integrated to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, which are then aggregated to generate characteristic component state information.

6. The crane operation control method based on Beidou positioning as claimed in claim 5, characterized in that: In the characteristic components of the tower crane, at least two Beidou positioning modules are deployed on the same characteristic component, and the virtual connection line formed by the two or more Beidou positioning modules is located within the edge contour of the corresponding characteristic component, and the position of the Beidou positioning module on the characteristic component of the tower crane on the characteristic component is also recorded and the corresponding module position information is generated; The characteristic components of the tower crane are also recorded with their entity contours to generate characteristic component contour information.

7. The crane operation control method based on Beidou positioning as claimed in claim 6, characterized in that: In S03, the method of fusing the positioning data with the motion state data to obtain the posture data of the characteristic components of the crane is one of the following: (1) according to the positioning data generated by more than two Beidou positioning modules on the characteristic component of the tower crane, determine its position in the work site, then virtually connect it in a preset order to obtain brief outline information, and then, according to the characteristic component outline information of the characteristic component and the module position information of the Beidou positioning module on the characteristic component, in combination with the brief outline information, invert the posture information of the characteristic component of the crane; (2) The characteristic component is deployed with at least three Beidou positioning modules, and the coordinates of three of the Beidou positioning modules are set to A (x1, y1, z1), B (x2, y2, z2), and C (x3, y3, z3); ​​the posture of the characteristic component of the crane is inverted through the relative position relationship between the three Beidou positioning modules; First, the vector between the Beidou positioning modules is calculated, which is defined as follows: Among them, v1 and v2 are the relative position vectors between the three Beidou positioning modules; Construct the posture matrix and calculate the normal vector n by the cross product of the two vectors, which is defined as follows: n=v1×v2 Where n is the normal vector of the plane formed by the three Beidou positioning modules; The normal vector is normalized to obtain the attitude reference, which is defined as follows: n unit It is the normal vector of the plane formed by the three Beidou positioning modules after normalization; Calculate the attitude angles, which include pitch angle, yaw angle and roll angle, which are defined as follows: Pitch Angle: Yaw angle: ψ = arctan2(n y , n x ) Roll Angle: Among them, θ, ψ, are pitch angle, yaw angle and roll angle respectively, n z is the component of the normal vector on the z-axis, |n| is the modulus of the normal vector; the yaw angle is used to describe the horizontal rotation angle of the feature component, n x 、n y is the component of the normal vector on the x and y axes; the roll angle is used to describe the roll angle of the characteristic component, v 1Z , v 1x are the components of the relative vector v1 on the z and x axes respectively.

8. The crane operation control method based on Beidou positioning as claimed in claim 7, characterized in that: S05 includes: S051. Acquire the characteristic component status information of multiple tower cranes in the work site in real time, determine the real-time position of the tower crane in the work site, and the characteristic component status information thereof, and then construct a dynamic three-dimensional working range function corresponding to the crane and its characteristic components, that is, a motion trajectory function, whose function model is defined as follows: W i (t)=f(x i y i ,z i ,θ i ,ψ i v i ) Among them, x i ,y i , z i , is the position coordinate of the characteristic parts of the tower crane, θ i , ψ i is the attitude angle of the characteristic components of the tower crane, v i It is the movement speed of the characteristic parts of the tower crane; S052. Based on the time series analysis, it is predicted whether the motion trajectories of the characteristic components of different tower cranes will intersect. The definition is as follows: R(t)=W A (t)∩W B (t) Among them, W A (t), W B (t) are the motion trajectory functions of different tower cranes; The result of T(t) is judged. If This means that there will be work interference between the two. When the work interference judgment result indicates that there is an abnormality between the tower cranes, an early warning message is generated and output; at the same time, the tower cranes with work interference are marked with early warning in the digital twin model.

9. A crane work control system based on Beidou positioning, used for the work control of tower cranes, wherein there are multiple tower cranes deployed in a work site, characterized in that: It includes: A plurality of Beidou positioning modules are deployed on the characteristic components of the tower crane, which respond to the work start signal of the tower crane, establish communication with Beidou satellites through the plurality of Beidou positioning modules on the crane, and use the Beidou positioning modules to receive Beidou satellite signals to locate the characteristic components of the crane and generate positioning data; A plurality of inertial measurement units are deployed on the characteristic components of the tower crane, and in response to a work start signal of the tower crane, the plurality of inertial measurement units are used to collect data on the motion state of the characteristic components of the crane to generate motion state data; A data fusion unit is used to fuse the positioning data with the motion state data to obtain the position, posture and / or motion trajectory data of the characteristic components of the crane, and to aggregate the data to generate characteristic component state information; The digital twin unit is used to build a digital twin model based on the work site based on the characteristic component status information, map multiple tower cranes into the digital twin model, and display their working status according to their corresponding characteristic component status information; The early warning monitoring unit is used to obtain the status information of characteristic components of multiple tower cranes in the work site in real time, and make work interference judgments according to preset conditions. When the work interference judgment results point to abnormalities between tower cranes, early warning information is generated and output; at the same time, tower cranes with work interference are marked with early warnings in the digital twin model; The instruction verification unit is used to receive the operation instruction, analyze it and locate the tower crane pointed to by the operation instruction, and perform safety verification on the action information pointed to by the operation instruction according to the characteristic component status information of the tower crane and the characteristic component status information of other tower cranes in the work site, and generate a verification result. When the verification result points to the execution of the operation instruction, it will interfere with the work of other tower cranes, and generate and output instruction warning information.

10. A tower crane work management method based on digital twins, characterized in that: It is applied with the crane operation control method based on Beidou positioning as described in any one of claims 1 to 8; It also includes: S06, receiving the operation instruction, parsing it and locating the tower crane pointed to by the operation instruction, and performing safety verification on the action information pointed to by the operation instruction according to the characteristic component status information of the tower crane and the characteristic component status information of other tower cranes in the work site, and generating a verification result. When the verification result indicates that the execution of the operation instruction will cause work interference with other tower cranes, a command warning information is generated and output; S06 includes: When parsing the operation instruction, the operation instruction I is converted into a motion state change ΔX, where ΔX=g(I, x current ), where g(·) is the instruction parsing function; According to the instruction parsing function, the working range W″(t) of the tower crane after execution is simulated, and its formula is defined as follows: W″(t)=f(x i +Δx i ,y i +Δy i ,z i +Δz i ,the i +Δθ i ,ψ i +Dψ i ,v i +Δv i ) Among them, x i ,y i , z i , is the position coordinate of the characteristic parts of the tower crane, θ i , ψ i is the attitude angle of the characteristic components of the tower crane, v i is the movement speed of the characteristic components of the tower crane, Δx i , Δy i , Δz i They are the position coordinate variables when the operation instruction is executed, Δθ i , Δψ i They are the attitude angle variables when the operation instruction is executed, Δv i It is the speed variable when the operation instruction is executed; The motion trajectory function W of other tower cranes is retrieved within the preset range of the tower crane corresponding to the operation instruction. i (t); then analyze whether the two intersect based on the time series, which is defined as follows: R″(t)=w″(t)∩W i (t) Where W″(t) is the motion trajectory function of the tower crane when executing the operation instruction, W i (t) is the motion trajectory function of other tower cranes within the preset range of the tower crane corresponding to the operation instruction; The result of R″(t) is judged. If This means that there will be work interference between the two. When the work interference judgment result indicates that there is an abnormality between the tower cranes, a command warning message is generated and output.

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