Space positioning method and system applied to large equipment, medium and product

Abstract

The invention relates to the technical field of crane space positioning, in particular to a space positioning method and system applied to large equipment, a medium and a product, and the method comprises the steps: recognizing the coordinates of each target base station, a power transmission line region and a discharge region in a to-be-operated region based on a to-be-operated region image; determining a first terminal coordinate corresponding to the first terminal based on each target base station coordinate and a first real-time distance between the first terminal and each target base station; determining a second terminal coordinate corresponding to the second terminal based on each target base station coordinate and a second real-time distance between the second terminal and each target base station; determining a predicted moving space area based on each target base station coordinate, the first terminal coordinate and the second terminal coordinate; and determining a region of interest based on the power transmission line region and the discharge region, and generating an avoidance early warning based on an overlapping region when it is predicted that the moving space region and the region of interest have the overlapping region. According to the invention, the accuracy of spatial positioning is improved.

Description

Technical Field

[0001] This application relates to the technical field of crane spatial positioning, and in particular to a spatial positioning method, system, medium and product applied to large equipment. Background Art

[0002] With the rapid development of the construction of power transmission and transformation projects in China, there are more and more various construction cranes around high-voltage transmission lines. Due to the complex working conditions near and under the transmission lines, in the operation scenarios of large equipment, especially in the operation scenarios of cranes, accurate spatial positioning is the core technical requirement to ensure construction safety, efficiency and the safety of personnel's lives and property. If the positioning deviation of large equipment during operation is large, it may cause the construction equipment to collide with the high-voltage transmission line, which may damage the metal structure or electronic components of the lifted object due to electromagnetic induction or arc discharge, resulting in economic losses, and even may cause equipment damage and casualties, leading to more serious safety accidents.

[0003] In related technologies, generally, a proximity electric alarm is set at the top of the boom, and the large equipment is spatially positioned based on the principle of the electric field strength distribution law. When the boom approaches the transmission line, an alarm is given to avoid the collision between the large equipment and the transmission line. However, due to the complex distribution of the electric field strength near the transmission line and the easy influence by various factors such as line arrangement and voltage level, the obtained electric field strength distribution law may have a large error from the actual situation. Therefore, the accuracy of the spatial positioning result determined based on the electric field strength distribution law may be low, and it cannot provide safety guarantee for the operation process. Summary of the Invention

[0004] In order to improve the accuracy during spatial positioning and thus improve the safety of large equipment during operation near the transmission line, this application provides a spatial positioning method, system, medium and product applied to large equipment.

[0005] In a first aspect, this application provides a spatial positioning method applied to large equipment, adopting the following technical solution: A spatial positioning method applied to large equipment includes: Obtain an image of the area to be operated, and identify the coordinates of each target base station, the transmission line area, and the discharge area in the corresponding area to be operated based on the image of the area to be operated; Establish communication connections between the first terminal and the second terminal and each target base station, and obtain the first real-time distance between the first terminal and each target base station, and the second real-time distance between the second terminal and each target base station in real time; Determine the first terminal coordinates corresponding to the first terminal based on the coordinates of each target base station and the first real-time distance between the first terminal and each target base station; Determine the second terminal coordinates corresponding to the second terminal based on each target base station coordinate and the second real-time distance between the second terminal and each target base station; Determine a predicted movement space area based on each target base station coordinate, the first terminal coordinate, and the second terminal coordinate; Determine a concerned area based on the power transmission line area and the discharge area. When there is an overlapping area between the predicted movement space area and the concerned area, generate an avoidance warning based on the overlapping area.

[0006] By adopting the above technical solution, by acquiring an image of the area to be operated and identifying the target base station coordinates, and combining the real-time distances between the first terminal and the second terminal and each target base station, it is convenient to accurately calculate the coordinates of the first terminal and the second terminal using relevant positioning algorithms. In addition, based on the target base station coordinates and the first and second terminal coordinates, the possible movement space of large equipment during high-altitude operation can be predicted. The three-dimensional predicted movement space helps to more comprehensively locate and monitor large equipment during the entire high-altitude operation process. At the same time, according to the power transmission line area and the discharge area, a concerned area with a high safety risk is determined from the image of the area to be operated. When there is an overlapping area between the predicted movement space area and the concerned area, an avoidance warning is generated in a timely manner based on the overlapping area, which is convenient to remind relevant personnel of potential dangers in advance, thereby improving the safety of large equipment during operation near the power transmission line.

[0007] In a possible implementation manner, the determining the first terminal coordinates corresponding to the first terminal based on each target base station coordinate and the first real-time distance between the first terminal and each target base station includes: Obtain the equation set terminal coordinates corresponding to each preset equation set according to each target base station coordinate, the first real-time distance between the first terminal and each target base station, and a preset equation set; Perform a mean value calculation on each equation set terminal coordinate to obtain the first terminal coordinates corresponding to the first terminal.

[0008] By adopting the above technical solution, by using the data of multiple target base stations to construct an equation set, and by integrating the solution results of different equation sets, it is convenient to effectively reduce the influence of single base station data errors on the positioning result, thereby facilitating a more comprehensive and accurate reflection of the actual position of the first terminal, and further facilitating the enhancement of the reliability of the positioning result.

[0009] In a possible implementation manner, the method further includes: Obtain the crane basic parameters and the crane movement parameters; Determine a predicted swing area corresponding to the first terminal during movement based on the crane basic parameters and the crane movement parameters; Update the predicted moving space area based on the predicted swinging area.

[0010] By adopting the above technical solution, since the swinging of the object being lifted is inevitable during the hoisting operation, analyzing the crane foundation parameters and crane movement parameters facilitates predicting and analyzing the predicted swinging area corresponding to the first terminal during the movement. By accurately predicting the swinging area, it is convenient to identify potential dangerous areas in advance, and update the predicted moving space area based on the predicted swinging area, facilitating timely taking corresponding preventive measures to avoid the occurrence of collision accidents.

[0011] In a possible implementation manner, the method further includes: Calculate the real-time overlapping volume corresponding to the overlapping area in real time. When the real-time overlapping volume is lower than a preset volume threshold, record the duration. When the duration is higher than a preset duration threshold, calculate the base station interval distance between each target base station and the overlapping area at the current moment according to each target base station coordinate. According to the base station interval distance corresponding to each target base station and the preset communication frequency mapping relationship, determine the adjusted communication frequency corresponding to each target base station, where the preset communication frequency mapping relationship is the corresponding relationship between the base station interval distance and the adjusted communication frequency. Based on the adjusted communication frequency corresponding to each target base station, adjust the communication frequency between each target base station and the first terminal and the second terminal.

[0012] By adopting the above technical solution, since the operating environment is dynamically changing, the positions of the terminals and the overlapping area will also change accordingly. By real-time monitoring the change of the overlapping area and dynamically adjusting the communication frequency according to the change situation, it is convenient to improve the utilization efficiency of communication resources while meeting the safety monitoring requirements and avoid wasting communication resources.

[0013] In a possible implementation manner, the method further includes: Intercept the transmission line image corresponding to the transmission line area from the image of the area to be operated, and perform feature recognition on the transmission line image. When the transmission line image contains line damage features, determine the signal interference value based on the damaged position and the degree of damage corresponding to the line damage features. When the signal interference value is higher than a preset interference threshold, adjust each target base station coordinate based on the damaged position and a preset area deviation value to obtain the adjusted target base station coordinates. The adjusted area to be operated formed by the adjusted target base station coordinates has an area deviation value from the original area to be operated that is not higher than the preset area deviation value.

[0014] By adopting the above technical solution, by intercepting the transmission line image from the image of the area to be operated and performing feature recognition, it is convenient to quickly and accurately discover whether there is a damaged line in the transmission line. When there is a damaged line, the interference situation that the damaged situation may cause to signal transmission is quantified according to the damaged position and degree, and the coordinates of the target base station are adjusted in time according to the damaged situation of the line, so as to reduce the impact of the damaged line interference on the spatial positioning result. In addition, by adding a preset regional deviation value to limit the adjusted area to be operated formed by the coordinates of the target base station, it is convenient to ensure that the aerial operation area is adjusted within a reasonable range, while considering the safety factors brought by the damaged line, and reducing too much change to the original operation plan.

[0015] In a possible implementation manner, after determining the overlapping area, the method further includes: Obtain the target operation position, and construct a simulated operation model based on the target operation position and the area to be operated. The simulated operation model includes a simulated operation scenario and simulated operation equipment; Obtain the current operation parameters of the equipment, import the current operation parameters into the simulated operation model, control the simulated operation equipment to perform simulated operation along the target operation position, and record the real-time simulated overlapping area. When the volume of the simulated area corresponding to the real-time simulated overlapping area is greater than the preset simulated volume threshold, adjust the simulated operation parameters of the simulated operation equipment, and execute in a loop; After each adjustment, determine whether the volume of the simulated area corresponding to the real-time simulated overlapping area is greater than the preset simulated volume threshold. If not, stop adjusting the operation parameters of the simulated operation equipment, and determine the current simulated operation parameters as the target simulated operation parameters; Generate an operation adjustment instruction according to the target simulated operation parameters, and when detecting the operation requirement of the operator, feedback the operation adjustment instruction to the operator.

[0016] By adopting the above technical solution, by continuously adjusting the operation parameters during the simulated operation until the volume of the simulated area corresponding to the real-time simulated overlapping area meets the preset requirements, by determining the optimal target simulated operation parameters to generate an operation adjustment instruction, and by feeding back in time when detecting the operation requirements of the relevant operator, it is convenient to provide clear operation guidance for the relevant operator, so as to avoid unnecessary adjustments and mistakes in the actual operation, and further improve the operation efficiency and quality.

[0017] In a second aspect, the present application provides a positioning system, adopting the following technical solution: A positioning system, the positioning system includes: At least one processor; A memory; At least one application program, wherein the at least one application program is stored in a memory and configured to be executed by at least one processor, and the at least one application program is configured to: execute the above-mentioned spatial positioning method applied to large equipment.

[0018] In a third aspect, the present application provides a computer-readable storage medium, adopting the following technical solution: A computer-readable storage medium, including: a computer program stored therein that can be loaded and executed by a processor to execute the above-mentioned spatial positioning method applied to large equipment.

[0019] In a fourth aspect, the present application provides a computer program product, adopting the following technical solution: A computer program product, including a computer program, which when executed by a processor implements the above-mentioned spatial positioning method applied to large equipment.

[0020] In summary, the present application includes at least one of the following beneficial technical effects: By acquiring an image of the area to be operated and identifying the coordinates of target base stations, and combining the real-time distances between the first terminal and the second terminal and each target base station, it is convenient to accurately calculate the coordinates of the first terminal and the second terminal by using relevant positioning algorithms. In addition, based on the coordinates of the target base stations and the coordinates of the first and second terminals, the possible activity space of the large equipment during high-altitude operation can be predicted. Based on the three-dimensional predicted movement space, it is helpful to conduct a more comprehensive positioning and monitoring of the large equipment during the entire high-altitude operation process. At the same time, according to the power transmission line area and the discharge area, the area of concern with a relatively high safety risk is determined from the image of the area to be operated, and when there is an overlapping area between the predicted movement space area and the area of concern, an avoidance warning is generated in a timely manner according to the overlapping area, which is convenient to remind relevant personnel of potential dangers in advance, thereby improving the safety of the large equipment during operation near the power transmission line.

[0021] By using the data of multiple target base stations to construct equations, and by integrating the solution results of different equations, it is convenient to effectively reduce the influence of the error of single base station data on the positioning result, thereby facilitating a more comprehensive and accurate reflection of the actual position of the first terminal, and further facilitating the enhancement of the reliability of the positioning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic flowchart of a spatial positioning method applied to large equipment in an embodiment of the present application; Figure 2 is a schematic diagram of a predicted space area in an embodiment of the present application; Figure 3 is a schematic structural diagram of a positioning system in an embodiment of the present application.

[0023] In the figure, 300 is a positioning system; 301 is a processor; 302 is a bus; 303 is a memory; 304 is a transceiver. Detailed implementation manners

[0024] The following will further describe the present application in detail Figures 1 to 3 with reference to the accompanying drawings.

[0025] After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as they are within the scope of the claims of the present application, they are protected by the Patent Law.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0027] It should be noted that in the optional embodiments of the present application, for relevant data such as object information, when the embodiments in the present application are applied to specific products or technologies, object permission or consent needs to be obtained, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions. That is to say, if the embodiments in the present application involve data related to an object, it needs to be obtained under the authorization and consent of the object, the authorization and consent of relevant departments, and compliance with the relevant laws, regulations, and standards of relevant countries and regions. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained, and the embodiments also need to be implemented under the authorization and consent of the object.

[0028] Specifically, the embodiments of the present application provide a spatial positioning method applied to large-scale equipment, which is executed by a positioning system. The positioning system can be a server or a terminal device. Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and the embodiments of the present application do not limit this here.

[0029] Refer to Figure 1 , Figure 1It is a schematic flowchart of a spatial positioning method applied to large equipment in an embodiment of the present application. The method includes steps S110 - S160, where: Step S110: Obtain an image of the area to be operated, and based on the image of the area to be operated, identify the coordinates of each target base station, the transmission line area, and the discharge area within the corresponding area to be operated.

[0030] Specifically, the image of the area to be operated can be collected by an image acquisition device set in the area to be operated and then uploaded to the positioning system. The image acquisition device can be a drone, a camera, etc. The specific image acquisition device is not specifically limited in the embodiment of the present application. The area to be operated is an area where high-altitude operations need to be carried out using large equipment. The area to be operated may include three target base stations or four target base stations. The specific number of target base stations is not specifically limited in the embodiment of the present application. The target base stations can be determined in advance by relevant staff according to historical operation experience, and the coordinates of each target base station corresponding to the target base stations are uploaded to the positioning system in advance. Once the target base stations are identified from the image of the area to be operated, the corresponding target base station coordinates can be obtained from the positioning system based on the base station features. The specific method for determining the target base station coordinates corresponding to the target base stations is not specifically limited in the embodiment of the present application. A target base station is a device that can achieve short-distance or communication connection within a specific range with a terminal device, can be specifically deployed in a specific operation area, and is a base station that can provide communication services for specific tasks or devices.

[0031] Identify the transmission line area and the discharge area from the image of the area to be operated according to a preset feature recognition algorithm. Among them, the transmission line area is the area in the area to be operated that contains transmission lines, and can be determined by identifying the edge features of the transmission lines from the image of the area to be operated through a preset feature recognition algorithm. The specific method is not specifically limited in the embodiment of the present application. Since the discharge area will generate specific spectral features, such as ultraviolet rays, infrared rays, etc., radiation, therefore, the discharge area can be identified from the image of the area to be operated through a preset spectral feature recognition algorithm. For example, use an ultraviolet camera to photograph the discharge area, and the discharge area will show obvious brightness features in the image of the area to be operated. Among them, the specific preset feature recognition algorithm and preset spectral feature recognition algorithm are not specifically limited in the embodiment of the present application and can be determined by relevant staff according to historical experimental data and then uploaded to the positioning system.

[0032] Step S120: Establish communication connections between the first terminal and the second terminal and each target base station, and obtain the first real-time distance between the first terminal and each target base station and the second real-time distance between the second terminal and each target base station in real time.

[0033] Specifically, when the large equipment is a crane, the first terminal can be set at the hook, and the second terminal can be set at the end of the telescopic boom. The specific installation positions can be determined by relevant staff based on historical experimental data and then uploaded to the positioning system. The communication methods between the target base stations and the first and second terminals are not specifically limited in the embodiments of the present application and can be Wi-Fi communication, 5G communication, etc. The first and second terminals send signal strength query requests to each target base station. After receiving the requests, each target base station measures the signal strength from the first or second terminal, and then uses a preset empirical model of signal strength and distance to convert the signal strength value into a real-time distance. Among them, the preset empirical model can be a logarithmic distance path loss model, and the specific preset empirical model is not specifically limited in the embodiments of the present application. By using the above method, the first real-time distance between the first terminal and each target base station can be obtained. At the same time, the second real-time distance between the second terminal and each target base station can also be obtained.

[0034] Step S130: Based on the coordinates of each target base station and the first real-time distance between the first terminal and each target base station, determine the first terminal coordinates corresponding to the first terminal.

[0035] Step S140: Based on the coordinates of each target base station and the second real-time distance between the second terminal and each target base station, determine the second terminal coordinates corresponding to the second terminal.

[0036] Specifically, since the target base station coordinates of each target base station are known, and the first real-time distance between the first terminal and each target base station is also known, therefore, by establishing a distance calculation equation based on the first terminal coordinates, the first terminal coordinates corresponding to the first terminal can be obtained. Further, in order to more comprehensively and accurately reflect the actual position of the first terminal, when determining the first terminal coordinates corresponding to the first terminal based on the coordinates of each target base station and the first real-time distance between the first terminal and each target base station, it may specifically include: Obtain the system of equations terminal coordinates corresponding to each system of equations according to the coordinates of each target base station, the first real-time distance between the first terminal and each target base station, and the preset system of equations; perform a mean calculation on each system of equations terminal coordinates to obtain the first terminal coordinates corresponding to the first terminal.

[0037] Specifically, the first terminal coordinates can be set as (x, y, z) first, and the preset system of equations is:

[0038]

[0039]

[0040]

[0041] When four target base stations are included, the target base station coordinates of the four target base stations are respectively the first target base station ( ), the second target base station ( ), the third target base station ( ), the fourth target base station ( ), is the first real-time distance between the first target base station and the first terminal, is the first real-time distance between the second target base station and the first terminal, is the first real-time distance between the third target base station and the first terminal, is the first real-time distance between the fourth target base station and the first terminal. After solving the above multiple equations, the four coordinate data corresponding to the first terminal can be obtained, and the average of the four coordinate data is taken as the final solution for the first terminal. For example, the coordinate data calculated by the first equation group is (a1, b1, c1), the coordinate data calculated by the second equation group is (a2, b2, c2), the coordinate data calculated by the third equation group is (a3, b3, c3), and the coordinate data calculated by the fourth equation group is (a4, b4, c4). Finally, the coordinates of the first terminal are determined as: ( ).

[0042] Using this method, the first terminal coordinates corresponding to the first terminal can be obtained, and similarly, the second terminal coordinates corresponding to the second terminal can be obtained. By constructing a system of equations using data from multiple target base stations and integrating the solutions of different systems of equations, the impact of errors in data from a single base station on the positioning results can be effectively reduced, thereby more comprehensively and accurately reflecting the actual location of the first terminal, thereby enhancing the reliability of the positioning results.

[0043] Step S150: Determine a predicted movement space area based on each target base station coordinate, the first terminal coordinate, and the second terminal coordinate.

[0044] Specifically, the prediction space region is a three-dimensional space region composed of each target base station, the first terminal and the second terminal, such as Figure 2 As shown, by connecting each target base station coordinate, the first terminal coordinate and the second terminal coordinate, each target base station, the first terminal and the second terminal can be obtained. Figure 2 The area surrounded by the dotted line is the prediction space area.

[0045] Step S160: determining a focus area based on the transmission line area and the discharge area, and generating an avoidance warning based on the overlapping area when the predicted movement space area and the focus area have an overlapping area.

[0046] Specifically, the area of concern is the merged area of the transmission line area and the discharge area. When determining whether there is an overlapping area between the predicted moving space area and the area of concern, according to the preset edge feature recognition algorithm, the predicted edge line corresponding to the predicted moving space area and the concerned edge line corresponding to the area of concern can be recognized. By comparing the predicted edge line with the concerned edge line, if the predicted edge line and the concerned edge line intersect, it can be determined that there is an overlapping area between the predicted moving space area and the area of concern. Based on the intersection situation between the predicted edge line and the concerned edge line, the overlapping area can be determined. Specifically, the preset edge feature recognition algorithm is not specifically limited in the embodiments of the present application and can be determined by relevant staff based on historical experimental data and then uploaded to the positioning system. In addition, a preset GIS spatial analysis tool can be used to perform spatial overlap analysis on the predicted moving space area and the area of concern. The "intersect" or "overlay" operation in GIS software can be used to find the overlapping part of the two areas. The way to determine the overlapping area is not specifically limited in the embodiments of the present application. The warning threshold can also be set according to the quantization parameters of the overlapping area. For example, when the overlapping volume of the overlapping area exceeds the preset volume threshold, an avoidance warning is triggered, and different warning levels, such as a first-level warning and a second-level warning, can also be set according to different overlapping volumes. The specific preset volume threshold and the method for determining the warning level are not specifically limited in the embodiments of the present application.

[0047] In the embodiments of the present application, by acquiring the image of the area to be operated and identifying the coordinates of the target base stations, and combining the real-time distances between the first terminal and the second terminal and each target base station, the coordinates of the first terminal and the second terminal can be accurately calculated using relevant positioning algorithms. In addition, based on the coordinates of the target base stations and the coordinates of the first and second terminals, the possible activity space of the large equipment during high-altitude operation can be predicted. The three-dimensional predicted moving space helps to more comprehensively locate and monitor the large equipment during the entire high-altitude operation process. At the same time, according to the transmission line area and the discharge area, the area of concern with a high safety risk is determined from the image of the area to be operated. When there is an overlapping area between the predicted moving space area and the area of concern, an avoidance warning is generated in a timely manner according to the overlapping area, which is convenient for reminding relevant personnel of potential dangers in advance, thereby improving the safety of the large equipment during operation near the transmission line.

[0048] Further, in order to further avoid the occurrence of collision accidents, the method provided in the embodiments of the present application further includes: Acquiring the basic parameters of the crane and the moving parameters of the crane; determining the predicted swing area corresponding to the first terminal during the moving process based on the basic parameters of the crane and the moving parameters of the crane; updating the predicted moving space area based on the predicted swing area.

[0049] Specifically, the crane basic parameters include but are not limited to boom length, lifting weight, and boom angle. Among them, the boom length can be obtained from the crane design document or actual measurement, and the boom length is one of the key factors affecting the swing range of the lifted object; the weight of the lifted object can be measured by a weight sensor installed on the crane lifting device and uploaded to the positioning system, and the weight of the lifted object affects the inertia and swing amplitude of the lifted object; after measuring the angle between the boom and the horizontal direction by installing an angle sensor at the key part of the boom, the boom angle can be uploaded to the positioning system. The crane movement parameters include but are not limited to moving speed, acceleration, and lifting speed, etc. Among them, the moving speed can be collected by a speed sensor installed on the crane moving component and uploaded to the positioning system; the acceleration can be monitored by an acceleration sensor for the acceleration change of the crane, and the acceleration affects the swing amplitude and frequency of the lifted object; the lifting speed parameter can be obtained from the crane control system or performance specification, and the change of the lifting speed affects the swing dynamics of the lifted object.

[0050] When determining the predicted swing area corresponding to the first terminal during the movement, a simulation device model corresponding to the crane can be established first. For example, a simple pendulum model or other non-linear dynamics models can be used to describe the swing of the lifted object. The obtained crane basic parameters and crane movement parameters are imported into the established simulation device model. The movement process of the crane is divided into several small time steps. Within each time step, the position of the lifted object is calculated according to the simulation device model and the imported parameters. By gradually calculating, the positions of the lifted object at different time points are obtained, so as to generate the swing trajectory of the lifted object. According to the swing trajectory, the maximum range that the lifted object may reach during the movement is determined, that is, the boundary of the predicted swing area. Among them, methods such as the convex hull algorithm can be used to calculate the boundary of the swing area. The specific boundary calculation method is not specifically limited in the embodiments of the present application and can be determined by relevant staff according to historical experimental data and uploaded to the positioning system.

[0051] The predicted moving space area determined in the above embodiments is composed of the coordinates of each target base station, the coordinates of the first terminal, and the coordinates of the second terminal. During the process of determining the predicted moving space, the relative change situation between the first terminal and the second terminal is defaulted or ignored. Since the first terminal and the second terminal are connected by a lifting rope, and the lifting rope generally has a certain elasticity, under the action of the weight of the lifted object, the lifting rope will undergo elongation deformation, etc. At the same time, during the lifting or traveling process, the lifting speed of the crane may not be uniform. Therefore, when the motion state of the crane changes, the lifted object may swing due to the elastic restoring force of the rope. For example, when quickly and suddenly lifting the lifted object, the lifted object will obtain a large upward acceleration instantaneously. When the lifting speed stabilizes, the lifted object will continue to move upward for a certain distance due to inertia and then fall, thus forming a swing. Or, when the crane suddenly brakes during driving, the lifted object will continue to move forward due to inertia, causing a swing in the front-rear direction; when turning too sharply, the lifted object will be affected by the centrifugal force and swing to the outside of the turn. By predicting the swing area to update the predicted moving space area, that is, adding the predicted swing area to the predicted moving space area to increase the coverage range of the original predicted moving space area. The specific update method is not specifically limited in the embodiments of the present application. By further updating the predicted moving space area, it is convenient to identify potential dangerous areas in advance, so as to facilitate timely taking corresponding preventive measures to avoid the occurrence of collision accidents.

[0052] Further, in order to facilitate improving the utilization efficiency of communication resources while meeting the safety monitoring requirements, the method provided in the embodiments of the present application further includes: Real-time calculate the real-time overlapping volume corresponding to the overlapping area. When the real-time overlapping volume is lower than the preset volume threshold, record the duration; when the duration is higher than the preset duration threshold, calculate the base station interval distance between each target base station and the overlapping area at the current moment according to the coordinates of each target base station; determine the adjusted communication frequency corresponding to each target base station according to the base station interval distance corresponding to each target base station and the preset communication frequency mapping relationship, where the preset communication frequency mapping relationship is the corresponding relationship between the base station interval distance and the adjusted communication frequency; based on the adjusted communication frequency corresponding to each target base station, adjust the communication frequency between each target base station and the first terminal and the second terminal.

[0053] Specifically, since the coordinates of each target base station, the first terminal, and the second terminal are all in a known state, a target coordinate system can be constructed based on the coordinates of each target base station, the first terminal, and the second terminal. Through the constructed target coordinate system, the vertex coordinates of each overlapping vertex corresponding to the overlapping area can be obtained, and then the real-time overlapping volume can be calculated based on each vertex coordinate. It can also be determined according to the geometric operation functions provided by the preset shapely. The specific method for determining the real-time overlapping volume is not specifically limited in the embodiments of this application. The larger the real-time overlapping volume, the larger the overlapping area between the predicted moving space area and the concerned area, that is, the greater the probability of collision. When the real-time overlapping volume is lower than the preset volume threshold, it indicates that the overlapping area between the predicted moving space area and the concerned area is smaller, and the probability of collision during high-altitude operations is smaller. The specific preset volume threshold is not specifically limited in the embodiments of this application and can be determined by relevant staff based on historical experimental data and then uploaded to the positioning system.

[0054] When the real-time overlapping volume is not lower than the preset volume threshold, it indicates that there is still a relatively high collision risk at the current moment, and it is necessary for the target base station to communicate with the first terminal and the second terminal in real time to facilitate real-time grasping of the possible collision risks. However, when the real-time overlapping volume is lower than the preset volume threshold, it indicates that the probability of collision during high-altitude operations at the current moment is smaller, and it is not necessary for the target base station to maintain real-time communication with the first terminal and the second terminal. That is, by adjusting the communication frequency between the target base station and the first terminal and the second terminal, communication resource waste can be avoided.

[0055] After determining that the real-time overlapping volume is lower than the preset volume threshold, the communication frequency between each target base station and the first terminal and the second terminal can be directly lowered. The specific adjustment value is not specifically limited in the embodiments of this application, as long as it can ensure that the communication frequency after adjustment is lower than that before adjustment. It is also possible to adopt different communication frequency adjustment methods for different target base stations by analyzing the base station interval distance between the target base station and the overlapping area at the current moment. When calculating the base station interval distance between the target base station and the overlapping area, the regional center point coordinates of the overlapping area can be determined first according to the vertex coordinates of each overlapping vertex in the overlapping area, and then the base station interval distance between the target base station and the overlapping area can be determined according to the preset distance calculation formula, the target base station coordinates, and the center point coordinates. The specific preset distance calculation formula is not specifically limited in the embodiments of this application, as long as it can calculate the base station interval distance. By adopting the above method, the base station interval distance between each target base station and the overlapping area can be calculated.

[0056] For any target base station, the adjusted communication frequency corresponding to the target base station can be determined according to a preset communication frequency mapping relationship. The preset communication frequency mapping relationship is the corresponding relationship between the base station spacing distance and the adjusted communication frequency. Based on this preset communication frequency mapping relationship, the adjusted communication frequency corresponding to any base station spacing distance can be determined. The specific content of the preset communication frequency mapping relationship is not specifically limited in the embodiments of the present application and can be determined by relevant staff according to historical experimental data and then uploaded to the positioning system. By using the above method, the adjusted communication frequency corresponding to each target base station can be determined. By monitoring the change of the overlapping area in real time and dynamically adjusting the communication frequency according to the change situation, it is convenient to improve the utilization efficiency of communication resources while meeting the safety monitoring requirements and avoid waste of communication resources.

[0057] Further, in order to facilitate reducing the influence of line damage interference on the spatial positioning result, the method provided in the embodiments of the present application further includes: Intercept the transmission line image corresponding to the transmission line area from the image of the area to be operated, and perform feature recognition on the transmission line image; when the transmission line image contains line damage features, determine the signal interference value based on the damaged position and the degree of damage corresponding to the line damage features; when the signal interference value is higher than the preset interference threshold, adjust the coordinates of each target base station based on the damaged position and the preset area deviation value to obtain the adjusted coordinates of the target base station. The adjusted area to be operated formed by the adjusted coordinates of the target base station has an area deviation value not higher than the preset area deviation value from the original area to be operated.

[0058] Specifically, the transmission line image corresponding to the transmission line area can be intercepted from the image of the area to be operated based on a preset edge recognition algorithm. The specific preset edge recognition algorithm is not specifically limited in the embodiments of the present application as long as it can ensure that the intercepted transmission line image contains the transmission line area. A preset feature recognition algorithm can be used to identify line damage features from the transmission line image. Among them, the line damage features can be features such as wire breakage, wire deformation, wire corrosion, and wire wear that may affect signal transmission. The specific line damage features are not specifically limited in the embodiments of the present application and can be set by relevant staff according to historical experimental data. The damaged line may affect the communication between the target base station and the first terminal and the second terminal due to the generation of noise, and different damaged conditions have different interference effects on the signal. At this time, the damaged position and the degree of damage corresponding to each line damage feature can be determined according to the feature recognition result, and the damaged position and the degree of damage are quantified to obtain the signal interference value corresponding to each line damage feature. The specific quantification operation is not specifically limited in the embodiments of the present application and can be determined by relevant staff according to historical experimental data and then uploaded to the positioning system. The signal interference value corresponding to each line damage feature can be obtained based on the above method.

[0059] When the signal interference value is higher than the preset interference threshold, it indicates that the damage situation corresponding to the line damage characteristics is relatively serious, which may have a greater impact on the communication between the target base station and the first terminal and the second terminal. At this time, the impact of the line damage situation on the communication process can be reduced by adjusting the set position of the target base station; when the signal interference value is not higher than the preset interference threshold, it indicates that the impact of the damage situation corresponding to the line damage characteristics on the communication is small and can be ignored. At this time, there is no need to adjust the set position of the target base station. The specific preset interference threshold is not specifically limited in the embodiments of the present application.

[0060] When adjusting the set position of the target base station, it is not adjusted without limit. Instead, it is necessary to ensure that the regional deviation value between the adjusted operation area to be operated formed by the coordinates of the target base station after adjustment and the original operation area to be operated does not exceed the preset regional deviation value. Among them, the regional deviation value can be determined based on the distance between the original regional center point of the original operation area to be operated and the adjusted regional center point of the adjusted operation area to be operated. The specific preset regional deviation value is not specifically limited in the embodiments of the present application. By adding a preset regional deviation value to limit the adjusted operation area to be operated formed by the coordinates of the target base station after adjustment, it is convenient to ensure that the aerial operation area is adjusted within a reasonable range, while considering the safety factors brought by line damage and reducing the excessive change to the original operation plan.

[0061] Further, after determining the overlapping area, the method provided in the embodiments of the present application further includes: Obtain the target operation position, and construct a simulated operation model based on the target operation position and the operation area to be operated. The simulated operation model includes a simulated operation scenario and simulated operation equipment; obtain the current operation parameters of the equipment, and import the current operation parameters into the simulated operation model, control the simulated operation equipment to perform simulated operation along the target operation position, and record the real-time simulated overlapping area. When the volume of the simulated area corresponding to the real-time simulated overlapping area is greater than the preset simulated volume threshold, adjust the simulated operation parameters of the simulated operation equipment and execute in a loop; after each adjustment, determine whether the volume of the simulated area corresponding to the real-time simulated overlapping area is greater than the preset simulated volume threshold. If not, stop adjusting the operation parameters of the simulated operation equipment, and determine the current simulated operation parameters as the target simulated operation parameters; generate an operation adjustment instruction according to the target simulated operation parameters, and when detecting the operation requirement of the operator, feedback the operation adjustment instruction to the operator.

[0062] Specifically, the target operation position is the position where high-altitude operations actually need to be carried out, which can be uploaded to the positioning system in advance by relevant operators according to the operation plan. Preset 3D modeling software or preset programming libraries, such as OpenGL, Unity, etc., can be used to build a simulated operation model. Based on the simulated operation model, all states of large equipment when working at the target operation position can be simulated. The current operation parameters include, but are not limited to, the current position of the first terminal, the current position of the second terminal, moving speed, acceleration, boom angle, and hoisting speed, etc. Map the current operation parameters to the corresponding attributes of the simulated operation equipment for use during the simulated operation. Before the simulated operation, a preset path planning algorithm, the current position of the first terminal, the current position of the second terminal, and the target operation position can also be used to plan an operation path for the simulated operation equipment. Then, according to the planned operation path and the current operation parameters, control the simulated operation model to perform the simulated operation. During the simulated operation, the volume of the simulated area corresponding to the simulated overlapping area is calculated in real time, and the volume of the simulated area is compared with a preset simulated volume threshold. If the volume of the simulated area is greater than the preset simulated volume threshold, then adjust the simulated operation parameters of the simulated operation equipment to obtain a new volume of the simulated area, and loop until the new volume of the simulated area is not greater than the preset simulated volume threshold. Determine the current simulated operation parameters as the target simulated operation parameters. Provide feedback in a timely manner when detecting the operation requirements of relevant operators, which is convenient for providing clear operation guidance to relevant operators, thus facilitating the avoidance of unnecessary adjustments and mistakes in actual operations, and further facilitating the improvement of operation efficiency and quality.

[0063] In an embodiment of the present application, a positioning system is provided, such as Figure 3 shown Figure 3 The positioning system 300 shown in the figure includes: a processor 301 and a memory 303. Among them, the processor 301 and the memory 303 are connected, such as connected through a bus 302. Optionally, the positioning system 300 may further include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the positioning system 300 does not constitute a limitation on the embodiments of the present application.

[0064] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0065] The bus 302 may include a path for transmitting information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 only one line is shown herein, but it does not mean that there is only one bus or one type of bus.

[0066] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory), or other type of dynamic storage device that can store information and instructions. It may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0067] The memory 303 is used to store the application program code for executing the solution of this application, and is controlled by the processor 301 for execution. The processor 301 is used to execute the application program code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0068] Among them, the positioning system includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc., and can be set on the jib of large equipment. Figure 3 The positioning system shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0069] The embodiments of this application provide a computer-readable storage medium, on which a computer program is stored. When it runs on a computer, it enables the computer to execute the corresponding content in the foregoing method embodiments.

[0070] The embodiments of this application provide a computer program product, which includes a computer program that implements the method in any of the above embodiments when executed by a processor.

[0071] It should be understood that although the steps in the flowchart of the drawings are sequentially shown according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limitation, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0072] The above are only some implementation manners of this application. It should be noted that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A spatial positioning method applied to large equipment, characterized in that, Including: Obtain an image of the area to be operated, and identify the coordinates of each target base station, the transmission line area, and the discharge area in the corresponding area to be operated based on the image of the area to be operated; Establish communication connections between the first terminal and the second terminal and each target base station, and obtain the first real-time distance between the first terminal and each target base station and the second real-time distance between the second terminal and each target base station in real time; Based on the coordinates of each target base station and the first real-time distance between the first terminal and each target base station, determine the first terminal coordinates corresponding to the first terminal; Based on the coordinates of each target base station and the second real-time distance between the second terminal and each target base station, determine the second terminal coordinates corresponding to the second terminal; Based on the coordinates of each target base station, the first terminal coordinates, and the second terminal coordinates, determine the predicted moving space area; Determine the area of concern based on the transmission line area and the discharge area. When there is an overlapping area between the predicted moving space area and the area of concern, generate an avoidance warning based on the overlapping area.

2. The spatial positioning method for large equipment according to claim 1, characterized in that The determining the first terminal coordinates corresponding to the first terminal based on the coordinates of each target base station and the first real-time distance between the first terminal and each target base station includes: According to the coordinates of each target base station, the first real-time distance between the first terminal and each target base station, and a preset system of equations, obtain the system of equations terminal coordinates corresponding to each preset system of equations; Perform a mean calculation on each system of equations terminal coordinate to obtain the first terminal coordinates corresponding to the first terminal.

3. The spatial positioning method for large equipment according to claim 1, characterized in that, Also including: Obtain the crane basic parameters and the crane movement parameters; Based on the crane basic parameters and the crane movement parameters, determine the predicted swing area corresponding to the first terminal during movement; Update the predicted moving space area based on the predicted swing area.

4. A spatial positioning method for large equipment according to claim 1, characterized in that, Also including: Calculate the real-time overlapping volume corresponding to the overlapping area in real time. When the real-time overlapping volume is lower than a preset volume threshold, record the duration; When the duration is higher than a preset duration threshold, calculate the base station interval distance between each target base station and the overlapping area at the current moment according to the coordinates of each target base station; According to the base station interval distance corresponding to each target base station and a preset communication frequency mapping relationship, determine the adjusted communication frequency corresponding to each target base station, where the preset communication frequency mapping relationship is the corresponding relationship between the base station interval distance and the adjusted communication frequency; Based on the adjusted communication frequency corresponding to each target base station, adjust the communication frequency between each target base station and the first terminal and the second terminal.

5. A spatial positioning method for large equipment according to claim 1, characterized in that, Also including: Intercept the transmission line image corresponding to the transmission line area from the image of the area to be operated, and perform feature recognition on the transmission line image; When the transmission line image contains line damage features, determine the signal interference value based on the damaged position and the degree of damage corresponding to the line damage features. When the signal interference value is higher than the preset interference threshold, adjust the coordinates of each target base station based on the damaged position and the preset regional deviation value to obtain the adjusted coordinates of the target base station. The regional deviation value between the adjusted working area to be operated formed by the adjusted coordinates of the target base station and the original working area to be operated is not higher than the preset regional deviation value.

6. The spatial positioning method for large equipment according to claim 1, wherein After determining the overlapping area, it further includes: Obtain the target working position, and construct a simulated operation model based on the target working position and the working area to be operated. The simulated operation model includes a simulated operation scenario and simulated operation equipment; Obtain the current operation parameters of the equipment, import the current operation parameters into the simulated operation model, control the simulated operation equipment to perform simulated operation along the target working position, and record the real-time simulated overlapping area. When the volume of the simulated area corresponding to the real-time simulated overlapping area is greater than the preset simulated volume threshold, adjust the simulated operation parameters of the simulated operation equipment and execute in a loop; After each adjustment, determine whether the volume of the simulated area corresponding to the real-time simulated overlapping area is greater than the preset simulated volume threshold. If not, stop adjusting the operation parameters of the simulated operation equipment, and determine the current simulated operation parameters as the target simulated operation parameters; Generate an operation adjustment instruction according to the target simulated operation parameters, and when the operation requirement of the operator is detected, feedback the operation adjustment instruction to the operator.

7. A positioning system, characterized in that, This positioning system includes: At least one processor; A memory; At least one application program, where the at least one application program is stored in the memory and is configured to be executed by at least one processor. The at least one application program is configured to: execute a spatial positioning method for large equipment according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, It includes: A computer program stored that can be loaded and executed by a processor to execute a spatial positioning method for large equipment according to any one of claims 1-6.

9. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, it realizes the steps of a spatial positioning method for large equipment according to any one of claims 1-6.

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