Anti-collision and automatic operation method of tower crane based on positioning tag

Abstract

The application discloses a tower crane anti-collision and automatic operation method based on a positioning tag. The method comprises the following steps: determining initial coordinates of a tower crane remote control end, a cab, a tower arm end and a hook, calculating a moving track of the tower crane, and calculating a required lifting height of the hook; the tower crane automatically operates according to the data, and in the operation process, the collision risk of the hook and an object is predicted through real-time UWB positioning and Kalman filtering technology, and anti-collision measures are taken; meanwhile, the real-time positions of the tower arm and the hook are obtained through a GPS RTK base station and a mobile station, coordinate conversion is carried out, and it is ensured that no collision occurs between the tower arm and the hook. The position of the remote control end is monitored in real time and synchronously, whether the threshold range of a target position is reached is judged, if the threshold range is not reached, the position of the tower crane is adjusted, if the threshold range is reached, an ending step is entered; through the method, high-precision real-time position monitoring and rapid reaction capability can be provided, and the safety and efficiency of an effective tower crane anti-collision system are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to a tower crane control method, more particularly to a tower crane anti-collision and automatic operation method based on positioning tags. BACKGROUND

[0002] As an indispensable equipment in modern construction, tower cranes mainly undertake the tasks of lifting heavy objects and precise positioning. In construction engineering, tower cranes are widely used, which not only improves the construction efficiency, but also makes the lifting of heavy objects in the construction process more precise. However, with the continuous expansion of engineering scale and the increasing complexity of construction environment, the operation requirements of tower cranes are also increasing. In order to ensure the safety and efficiency of construction, the automation and intelligence of tower cranes have gradually become the focus of the industry.

[0003] As an important part of the intelligent development, the anti-collision technology of tower crane has always been one of the core research fields. Traditional tower crane anti-collision systems mostly rely on manual operation or basic sensor technology for monitoring and alarming. These traditional methods often have many problems. First of all, manual monitoring is easily affected by human factors, and operators may not be able to discover potential collision risks in time due to fatigue or inattention. Secondly, the traditional sensor technology has limitations in precision and response speed, and cannot provide real-time and accurate position monitoring. The detection range, detection accuracy and response speed of the sensor are all low, which leads to the system being unable to respond quickly and accurately in emergency situations, and even may cause false negatives or false positives. These problems seriously affect the safety and efficiency of tower crane operation.

[0004] Therefore, it is necessary to design a new method to provide high-precision real-time position monitoring and fast response capability, and to effectively improve the safety and efficiency of the tower crane anti-collision system, in order to solve the problems of the existing technology relying on traditional sensors and manual monitoring, such as insufficient precision, slow response, and false negatives or false positives, which are difficult to meet the needs of complex construction environments. SUMMARY

[0005] The purpose of the present application is to overcome the defects of the prior art and provide a tower crane anti-collision and automatic operation method based on positioning tags.

[0006] To achieve the above purpose, the present application adopts the following technical solution: a tower crane anti-collision and automatic operation method based on positioning tags, comprising:

[0007] Determine the coordinates of the remote control end of the tower crane on the construction site, the coordinates of the cab on the ground, the coordinates of the tower arm end on the ground, and the coordinates of the hook on the ground to obtain initial coordinates;

[0008] Calculate the movement trajectory according to the initial coordinates;

[0009] Reference three-dimensional map data combined with the movement trajectory to calculate the lifting height required by the hook;

[0010] In the process of automatic operation of the tower crane according to the movement trajectory and the lifting height required by the hook, when the hook collision prevention processing is needed, the real-time UWB positioning and the positioning tag are combined, the Kalman filter and the motion model are used to predict the collision risk of the hook and the object, and the anti-collision measures are taken; when the tower group arm collision prevention processing is needed, the positions of the tower arm and the hook of the tower crane are obtained in real time through the GPS RTK base station and the GPS RTK mobile station, and coordinate conversion is performed to ensure that the tower arm and the hoisting rope do not collide;

[0011] Synchronize the position of the remote control end;

[0012] Determine whether the position of the remote control end reaches the threshold range of the target position;

[0013] If the position of the remote control end does not reach the threshold range of the target position, fine-tune the position of the tower crane and execute the synchronization of the position of the remote control end;

[0014] If the position of the remote control end of the tower crane reaches the threshold range of the target position, enter the end step.

[0015] Further technical solutions are as follows: the movement trajectory is calculated according to the initial coordinates, including:

[0016] According to the included angle relationship of the ground coordinates of the cab, the coordinates of the end of the tower arm on the ground, and the coordinates of the remote control end on the construction site, determine the angle through which the tower arm needs to rotate to reach the remote control end;

[0017] According to the coordinates of the hook on the ground and the coordinates of the remote control end on the construction site, calculate the distance through which the trolley needs to move;

[0018] According to the Z coordinate value in the coordinates of the hook on the ground and the Z coordinate value in the coordinates of the remote control end on the construction site, calculate the height through which the hook needs to be lifted;

[0019] The movement trajectory includes lifting the hook, moving the trolley, rotating the boom, and lowering the hook according to the angle through which the tower arm needs to rotate to reach the remote control end, the distance through which the trolley needs to move, and the height through which the hook needs to be lifted.

[0020] Further technical solutions are as follows: the lifting height required by the hook is calculated by reference to three-dimensional map data combined with the movement trajectory, including:

[0021] According to the movement trajectory, find the height of the highest object that needs to be passed in the movement trajectory in the pre-constructed three-dimensional model;

[0022] The lifting height of the hook is obtained by adding the height of the highest object to the allowance of the hook anti-collision and subtracting the height that the hook needs to be lifted.

[0023] Further technical solutions are as follows: the collision risk of the hook and the object is predicted by combining real-time UWB positioning and positioning tags, Kalman filtering, and a motion model, and anti-collision measures are taken, including:

[0024] When the UWB tag is detected, it is determined whether the UWB tag is a hook tag;

[0025] If the UWB tag is a hook tag, a hook motion model is established, and the current position of the hook is predicted and optimized in real time by combining UWB position observation values and Kalman filtering;

[0026] The collision risk is determined and anti-collision measures are taken;

[0027] When the UWB tag is not a hook tag, an object motion model is established, and the current position of the object is predicted and optimized in real time by combining UWB position observation values and Kalman filtering;

[0028] and the collision risk is determined and anti-collision measures are taken.

[0029] Further technical solutions are as follows: the hook motion model is established, and the current position of the hook is predicted and optimized in real time by combining UWB position observation values and Kalman filtering, including:

[0030] A linear equation is used to establish a hook motion model according to the average speed, and the current position prediction value of the hook is calculated according to the current speed of the hook and the position data of the UWB tag by using the hook motion model;

[0031] The actual position observation value of the hook is obtained in real time by using UWB technology;

[0032] The current position prediction value of the hook and the actual position observation value of the hook are input into a Kalman filter to calculate the optimal estimation value of the position of the hook, forming a Kalman filtering value.

[0033] Further technical solutions are as follows: the collision risk is determined and anti-collision measures are taken, including:

[0034] The relative position and direction between the hook and the object are calculated according to the Kalman filtering value;

[0035] It is determined whether there is a collision risk between the hook and the object according to the relative position and direction;

[0036] When there is a collision risk between the hook and the object, an anti-collision mechanism is started, and preventive measures are taken.

[0037] Further technical solutions are as follows: the object motion model is established, and UWB position observation values and Kalman filtering are combined to predict and optimize the current position of the object in real time, including:

[0038] The object motion model is established by using a piecewise fitting method, and the object motion model is used to calculate the current position prediction value of the object according to the current speed of the object and the position data of the UWB tag;

[0039] The actual position observation value of the object is obtained in real time through UWB technology;

[0040] The current position prediction value of the object and the actual position observation value of the object are input into a Kalman filter to calculate the optimal estimation value of the object position, and a Kalman filtering value is formed.

[0041] Further technical solutions are as follows: the object motion model is established by using a piecewise fitting method, including:

[0042] A uniform speed model is used to establish a preliminary motion model of the object, and the preliminary motion model is used to calculate the current position prediction value of the object according to the position and speed of the UWB tag;

[0043] The actual position observation value of the object is obtained in real time through UWB technology;

[0044] When the current position prediction value of the object is greater than the actual position observation value of the object, three observation values before and after are selected for polynomial fitting, and the object motion model is constructed according to the fitting result until the current position prediction value of the object is not greater than the actual position observation value of the object.

[0045] Further technical solutions are as follows: each tower crane is provided with a GPS RTK base station and a plurality of GPS RTK mobile stations, wherein the GPS RTK base station is installed in the cab; the GPS RTK mobile stations are respectively installed at the end of the tower arm, the hook and the ground remote control end.

[0046] Further technical solutions are as follows: the positions of the tower arm and the hook of the tower crane are obtained in real time through the GPS RTK base station and the GPS RTK mobile station, and coordinate conversion is performed to ensure that the tower arm and the hoisting rope do not collide, including:

[0047] The positions of the tower arm and the hook of the two tower cranes are obtained in real time through the GPS RTK base station and the GPS RTK mobile station;

[0048] The longitude and latitude of the two tower cranes are converted into a Cartesian coordinate system to obtain a conversion result;

[0049] Obtaining the positions of the end of the tower arm and the hook relative to the RTK base station through the RTK mobile station located at the tower arm and the RTK mobile station located at the hook of the two tower cranes respectively;

[0050] Calculating the positions of the end of the tower arm and the hook in the construction site coordinate system through the transformation matrix combined with the conversion results, the positions of the end of the tower arm and the hook relative to the RTK base station, to obtain the positions of the end of the tower arm and the hook in the construction site coordinate system of the two tower cranes;

[0051] Judging whether there is a collision risk according to the GPS RTK base station, the positions of the end of the tower arm and the hook in the construction site coordinate system of the two tower cranes;

[0052] When there is a collision risk, taking anti-collision measures.

[0053] The beneficial effects of the present application compared with the prior art are: the present application realizes high-precision real-time position monitoring and rapid reaction capability of the tower crane by combining UWB positioning, Kalman filtering, GPS RTK technology and three-dimensional map data; the server calculates the moving track of the tower crane and the lifting height of the hook in real time, and predicts and prevents the collision risk of the hook and the object, the tower arm and the sling according to the accurate positioning data; through automatic adjustment of the position of the tower crane and real-time anti-collision processing, the problems of insufficient precision, slow response and false alarm of traditional sensors and manual monitoring are avoided, the safety and efficiency are significantly improved, and the high-precision demand under complex construction environment is met.

[0054] The present application will be further described below in conjunction with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0056] Figure 1 The flowchart of the tower crane anti-collision and automatic running method based on positioning tags provided by the embodiments of the present application;

[0057] Figure 2 The sub-flowchart of the tower crane anti-collision and automatic running method based on positioning tags provided by the embodiments of the present application Figure One ;

[0058] Figure 3 The sub-flowchart of the tower crane anti-collision and automatic running method based on positioning tags provided by the embodiments of the present application Figure Two ;

[0059] Figure 4 A sub-flow diagram of the tower crane anti-collision and automatic operation method based on the positioning tag provided by the embodiment of the present application Figure Three ;

[0060] Figure 5 A sub-flow diagram of the tower crane anti-collision and automatic operation method based on the positioning tag provided by the embodiment of the present application Figure Four ;

[0061] Figure 6 A sub-flow diagram of the tower crane anti-collision and automatic operation method based on the positioning tag provided by the embodiment of the present application Figure Five ;

[0062] Figure 7 A sub-flow diagram of the tower crane anti-collision and automatic operation method based on the positioning tag provided by the embodiment of the present application Figure Six ;

[0063] Figure 8 A sub-flow diagram of the tower crane anti-collision and automatic operation method based on the positioning tag provided by the embodiment of the present application Figure Seven ;

[0064] Figure 9 A layout diagram of the UWB base station provided by the embodiment of the present application

[0065] Figure 10 A layout diagram of the UWB base station provided by the embodiment of the present application

[0066] Figure 11 A layout diagram of the GPS RTK base station and the GPS RTK mobile station provided by the embodiment of the present application

[0067] Figure 12 An angle diagram of two tower cranes provided by the embodiment of the present application DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the 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 creative work fall within the protection scope of the present application.

[0069] It should be understood that, when used in the specification and the appended claims, the terms “comprise” and “include” indicate the presence of described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or sets thereof.

[0070] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this specification and the appended claims, the singular forms "a," "an" and "the" include plural referents unless the context clearly dictates otherwise.

[0071] It is further to be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of' encompasses one or more items.

[0072] Reference is made to Figure 1 , Figure 1 The schematic flow chart of the tower crane anti-collision and automatic operation method based on positioning tags provided by the embodiments of the present application. The tower crane anti-collision and automatic operation method based on positioning tags is applied to a system composed of a tower crane, a remote control end, a server, a UWB (Ultra-Wideband Base) base station, a GPS RTK (Global Positioning System Real-Time Kinematic) base station and a GPS RTK mobile station. The tower crane anti-collision and automatic operation method provides high-precision real-time position monitoring and rapid response capability by integrating high-precision positioning technology and intelligent prediction algorithms, thereby greatly improving the safety and efficiency of the tower crane anti-collision system. The method obtains the accurate positions of each component of the tower crane in real time through UWB positioning, GPS RTK base stations and mobile stations, Kalman filtering and other technologies, and accurately calculates the moving track of the tower crane and the lifting height of the hook through comprehensive motion models and three-dimensional map data. On this basis, the system can predict potential collision risks and quickly take corresponding anti-collision measures, reducing the problems of insufficient accuracy, slow response and false positives and false negatives commonly seen in traditional sensors and manual monitoring. At the same time, by using positioning tags and dynamic monitoring, the system can adapt to changes in complex construction environments, ensuring the efficiency and safety of tower crane operation. This method effectively solves the limitations of the prior art and optimizes the automatic operation and anti-collision capability of the tower crane in various environments.

[0073] Figure 1 The flowchart of the tower crane anti-collision and automatic operation method based on positioning tags provided by the embodiments of the present application. As shown in Figure 1 , the method comprises the following steps S110 to S150.

[0074] S110, determine the coordinates of the remote control end of the tower crane on the construction site, the coordinates of the cab on the ground, the coordinates of the tower arm end on the ground, and the coordinates of the hook on the ground to obtain initial coordinates.

[0075] In this embodiment, at this stage, the automatic control server first needs to obtain the relevant coordinate information:

[0076] Coordinate of remote control end This is the coordinate of the location of the remote control terminal, obtained through the RTK positioning system. The remote control end is a handheld terminal with control functions, integrating an RTK mobile station.

[0077] Coordinate of driver's cab This is the position of the tower crane driver's cab on the ground.

[0078] Coordinate of tower arm end This is the coordinate of the position of the tower arm end of the tower crane on the ground.

[0079] Coordinate of hook This is the position of the hook on the ground, which is usually the working end of the tower crane.

[0080] S120, calculating a movement trajectory according to the initial coordinates.

[0081] In this embodiment, the movement trajectory includes the angle that the tower arm needs to rotate to reach the remote control end, the distance that the trolley needs to move, the height that the hook needs to ascend, trolley movement, boom rotation, and hook descent.

[0082] The above step S120 includes the following steps:

[0083] Determining the angle that the tower arm needs to rotate to reach the remote control end according to the included angle relationship of the ground coordinate of the driver's cab, the coordinate of the tower arm end on the ground, and the coordinate of the remote control end on the construction site.

[0084] Calculating the distance that the trolley needs to move according to the coordinate of the hook on the ground and the coordinate of the remote control end on the construction site.

[0085] Calculating the height that the hook needs to ascend according to the Z coordinate value in the coordinate of the hook on the ground and the Z coordinate value in the coordinate of the remote control end on the construction site.

[0086] Specifically, the angle that the tower arm needs to rotate to reach the remote control end is calculated as follows: wherein, is the angle that the tower arm needs to rotate to reach the remote control end; is the coordinate of the driver's cab on the ground, is the coordinate of the tower arm end on the ground, is the coordinate of the remote control end on the construction site; wherein, represents the vector from the driver's cab to the tower arm end, represents the vector from the driver's cab to the remote control end. By calculating the included angle of the two vectors, the angle of the tower arm rotation is obtained.

[0087] The distance that the trolley needs to move is calculated as follows: The distance that the trolley needs to move is calculated, The distance that the trolley needs to move is calculated, The coordinates of the hook on the ground are calculated; The distance from the cab to the hook is calculated, The distance from the cab to the remote end is calculated. By subtracting these two values, the distance that the trolley needs to move is obtained.

[0088] The height that the hook needs to be lifted is calculated, The height that the hook needs to be lifted is calculated, The height that the hook needs to be lifted is calculated, The Z coordinate of the highest object is calculated; The Z coordinate of the highest object is calculated. This height difference determines the height that the hook needs to be lifted. S130, the lifting height required by the hook is calculated according to the three-dimensional map data and the movement trajectory.

[0089] In an embodiment, referring to The above step S120 can include steps S121-S122.

[0090] Figure 2 S121, the height of the highest object that needs to be passed in the movement trajectory is found in the pre-constructed three-dimensional model according to the movement trajectory;

[0091] S122, the lifting height required by the hook is calculated by adding the safety margin of the hook against collision to the height of the highest object and subtracting the lifting height of the hook.

[0092] S122, the lifting height required by the hook is calculated by adding the safety margin of the hook against collision to the height of the highest object and subtracting the lifting height of the hook.

[0093] In this embodiment, the sequence of automatic operation of the tower crane is pre-specified as hook lifting, trolley moving, boom rotating, and hook descending. Therefore, the movement trajectory of the hook in the ground plane is a straight line of the trolley moving and an arc of the trolley rotating with the boom.

[0094] The server will refer to the three-dimensional map data and combine the calculated movement trajectory to determine the lifting height of the hook. The specific steps of this process are as follows:

[0095] According to the movement trajectory, the highest obstacle that needs to be passed in the movement trajectory is determined in the pre-constructed three-dimensional model.

[0096] The final lifting height required by the hook is obtained by adding the height of the highest obstacle and the safety margin of the hook against collision and subtracting the lifting height of the hook. Lifting height = H + safety margin - h Wherein, H is the height of the highest obstacle; wherein, is the safety margin against collision, which ensures that the hook will not collide with any obstacle; h is the lifting height of the hook ​

[0097] During the automatic operation, the system monitors the surrounding environment in real time and uses sensors and other devices to avoid obstacles. When an obstacle is detected, the system automatically adjusts the movement trajectory to avoid the obstacle.

[0098] During the automatic operation of the tower crane, the system periodically synchronizes the current position of the device to the remote control terminal, ensuring that the operator can understand the status and position of the device in real time.

[0099] When the tower crane approaches the target position set by the remote control terminal, the server determines whether it has reached the target range. If the position error exceeds the set threshold, the system performs a small amount of fine-tuning to make the hook accurately stop at the target position.

[0100] This process ensures that the tower crane can accurately and safely complete the task by calculating and controlling multiple parameters. By using three-dimensional models, trajectory planning, and real-time obstacle avoidance technology, the tower crane can automatically complete the lifting operation, reducing manual intervention and improving work efficiency and safety.

[0101] S140, during the automatic operation of the tower crane according to the movement trajectory and the required lifting height of the hook, when the hook collision prevention process is needed, real-time UWB positioning and positioning tags are combined to predict the collision risk of the hook and the object using Kalman filtering and motion model, and take collision prevention measures; when the tower group boom collision prevention process is needed, the positions of the tower crane tower arm and the hook are obtained in real time through the GPS RTK base station and the GPS RTK mobile station, and coordinate conversion is performed to ensure that the tower arm and the hoisting rope do not collide.

[0102] For the hook collision prevention process, please refer to Figure 9 Around the tower crane, four UWB base stations are fixedly placed outside the tower crane arm to serve as reference points for the UWB positioning system. To achieve accurate positioning, the hook and the object that need to be judged whether to collide with the hook are respectively equipped with UWB tags, of which the hook is fixed with one UWB tag and the object is also equipped with one UWB tag. Through these UWB tags, the system can track the positions of the hook and the object in real time to ensure accurate positioning and safe operation.

[0103] In an embodiment, please refer to Figure 3 For the above-mentioned combination of real-time UWB positioning and positioning tags, the use of Kalman filtering and motion model to predict the collision risk of the hook and the object, and the taking of collision prevention measures, it specifically includes steps S141~ S144.

[0104] S141, when detecting a UWB tag, determining whether the UWB tag is a hook tag.

[0105] In this embodiment, when the system detects that a UWB tag enters the coverage of a base station through a sensor, it first reads the ID and position data of the tag.

[0106] After detecting the tag, the system determines whether the tag belongs to a hook. Generally, a hook tag has specific identification features, such as the ID of the tag or other associated information.

[0107] If the tag is a hook tag, it enters the processing flow related to the hook.

[0108] If the tag is not a hook tag, it enters the processing flow for other objects, which is usually used to monitor the movement of objects such as humans or vehicles.

[0109] S142, if the UWB tag is a hook tag, a hook movement model is established, and the UWB position observation value is combined with Kalman filtering to predict and optimize the current position of the hook in real time.

[0110] In this embodiment, the hook movement model is established by establishing the relationship between the speed and position of the hook to predict its movement trajectory and position change at future time.

[0111] If the UWB tag is a hook tag, it enters the process of establishing the movement model of the hook and predicting the position.

[0112] In an embodiment, please refer to Figure 4 The above step S142 can include steps S1421-S1423.

[0113] S1421, a linear equation is used to establish a hook movement model based on the average speed, and the hook movement model is used to calculate the current position prediction value of the hook based on the current speed of the hook and the position data of the UWB tag.

[0114] In this embodiment, the movement model of the hook is established based on its speed characteristics. Since the movement of the hook is relatively regular and linear, a simple linear equation can be used to establish the movement model of the hook. Generally, the form of the movement model of the hook is: where x represents the position of the hook, is the speed of the hook, and is a constant adjusted according to the movement law of the hook.

[0115] According to the speed and position data of the hook, the prediction value of the current position of the hook is calculated which includes the position change from time to , taking into account the speed and direction of the hook.

[0116] S1422, real-time acquisition of the actual position observation value of the hook through the UWB technology.

[0117] In this embodiment, the actual position observation value refers to the actual position of the hook.

[0118] The system acquires the actual position of the hook at the current time through the UWB technology . This is usually measured in real time by the UWB positioning system to obtain the three-dimensional position (x, y, z) of the hook.

[0119] The UWB technology can usually provide relatively accurate actual position data due to its high precision and low error.

[0120] S1423, input the current position prediction value of the hook and the actual position observation value of the hook into the Kalman filter to calculate the optimal estimation value of the hook position, forming the Kalman filter value.

[0121] In this embodiment, the Kalman filter value refers to the optimal estimation value of the hook position. As Figure 10 shown, when there is a position deviation, filtering processing is needed.

[0122] In this embodiment, the predicted position of the hook and the actual position observation value are input into the Kalman filter to optimize the estimation of the hook position. The core goal of Kalman filtering is to obtain the optimal current position estimation value by combining the prediction value and the observation value through weighted averaging.

[0123] In the Kalman filtering process, the Kalman gain matrix KK is dynamically adjusted according to the difference between the observation value and the prediction value to minimize the error of the position estimation. The formula is as follows: ; wherein, is the actual position observation value obtained through UWB, is the observation transition matrix, is the predicted position of the hook through the motion model.

[0124] S143, judge the collision risk and take anti-collision measures.

[0125] In an embodiment, referring to Figure 5 , the above step S143 can include steps S1431-S1433.

[0126] S1431, calculate the relative position and direction between the hook and the object according to the Kalman filter value.

[0127] In this embodiment, the hook position optimized by the Kalman filter and the current position estimate of the object (for non-hooked tags, a similar Kalman filtering process is used), the system calculates the relative position between the hook and the object.

[0128] According to the relative position between the hook and the object, the direction vectors of the two are calculated.

[0129] S1432, according to the relative position and direction, determine whether there is a collision risk between the hook and the object.

[0130] In this embodiment, a (p, v, t) trajectory vector is established for each tag entering the detection range, where p represents the coordinate vector, v represents the velocity vector, and t represents the time.

[0131] Let The trajectory vector of the collision reference tag at the moment is , and the trajectory vector of the collision detection tag is . Then at the next moment The position of the collision reference tag , and the position of the collision detection tag . Let , calculate The Euclidean distance between the collision reference tag and the collision detection tag at the moment If D is less than the threshold value, if the distance D is less than the set collision threshold, it means that the two are close and may collide.

[0132] Further, the system calculates the angle between the relative position of the hook and the object and the direction of the hook speed. This angle is calculated using the following formula: If the angle θ is less than the preset threshold, it means that the two may collide.

[0133] S1433, when there is a collision risk between the hook and the object, the anti-collision mechanism is started, and preventive measures are taken.

[0134] In this embodiment, if the collision condition is met, the system will take corresponding anti-collision measures, which may include adjusting the speed of the hook, changing the motion trajectory of the hook, or enabling other safety control mechanisms to ensure that the hook and the object do not collide.

[0135] Through the above steps, the system can monitor the relative position and speed change of the hook and the object in real time, and optimize the position prediction of the hook according to the UWB positioning data and Kalman filtering, so as to accurately predict and evaluate whether there is a collision risk. If a collision risk is detected, the system will automatically take anti-collision measures to avoid potential safety hazards.

[0136] S144, when the UWB tag is not a hook tag, establishing an object motion model, combining the UWB position observation value and Kalman filtering to predict and optimize the current position of the object in real time;

[0137] And performing the step S143.

[0138] In an embodiment, referring to Figure 6 The step S144 described above can include steps S1441-S1443.

[0139] S1441, using a piecewise fitting method to establish an object motion model, and using the object motion model to calculate a current position prediction value of the object according to the current speed of the object and the position data of the UWB tag.

[0140] In an embodiment, referring to Figure 7 The piecewise fitting method to establish an object motion model described above includes steps S14411-S14413.

[0141] S14411, using a uniform speed model to establish a preliminary motion model of the object, and using the preliminary motion model to calculate a current position prediction value of the object according to the position and speed of the UWB tag;

[0142] S14412, using the UWB technology to obtain an actual position observation value of the object in real time;

[0143] S14413, when the current position prediction value of the object is greater than the actual position observation value of the object, selecting three observation values before and after to perform polynomial fitting, and constructing an object motion model according to the fitting result until the current position prediction value of the object is not greater than the actual position observation value of the object.

[0144] When the current position prediction value of the object is not greater than the actual position observation value of the object, entering a Kalman filtering process.

[0145] In the embodiment, when there are not enough observation values or the motion mode of the object is not clear at the initial stage of the system, a uniform speed model is used to establish a preliminary motion model of the object. The uniform speed model assumes that the object moves in a straight line at a constant speed, and the preliminary established uniform speed model is used to predict the prediction value of the object at the current position. The prediction value is calculated using the current speed of the object and the position data of the UWB tag. If the predicted position deviates from the actual observation position, it indicates that the motion model of the object may need to be adjusted.

[0146] Specifically, the uniform speed model is used to predict the speed and position of the object at the initial stage. It is assumed that the motion state of the object remains stable in a short time, which helps to establish a preliminary motion model.

[0147] Through UWB technology, the system constantly updates the actual position of the object. At this time, the accurate position provided by UWB data becomes the basis for subsequent model updating.

[0148] When the error between the preliminary motion model prediction value and the actual observation value exceeds a certain threshold, a polynomial fitting method is used for optimization.

[0149] Selecting three observation values before and after, the least squares method is used for fitting:

[0150] First fitting: linear fitting.

[0151] Second fitting: parabolic fitting.

[0152] Third fitting: cubic function fitting.

[0153] According to the fitting result, the fitting equation with the smallest mean square error is selected as the motion model of the current object. This model will be used as the input of the Kalman filtering process.

[0154] For objects with complex motion patterns, such as humans or vehicles, a segmented fitting method is used to establish their motion models. In the initial stage, due to the lack of a perfect motion model, preliminary speed and position data are obtained through sensors, and a uniform speed model is used to preliminarily describe the motion behavior of the object.

[0155] When the deviation between the observation value and the prediction value of the uniform speed model exceeds the set threshold, select three observation points before and after the current period, and use the least squares method to fit the first, second, and third equations respectively. By calculating the mean square error of these fitting equations, the best fitting equation is selected as the current motion model.

[0156] Then, the Kalman filtering method is used to continue updating the motion state of the object until the difference between the prediction value and the actual observation value exceeds the threshold again. At this time, the above fitting process is re-performed, and the motion model is continuously optimized to improve the prediction accuracy.

[0157] S1442, real-time acquisition of the actual position observation value of the object through UWB technology.

[0158] In this embodiment, UWB technology is used to real-time acquire the actual position observation value of the object .

[0159] These observation values provide accurate data about the current position of the object, which can be used as the basis for updating the prediction value in Kalman filtering.

[0160] S1443, input the current position prediction value of the object and the actual position observation value of the object into the Kalman filter to calculate the optimal estimation value of the object position, forming the Kalman filtering value.

[0161] In this embodiment, the current position prediction value of the object (prediction value obtained by the uniform speed model or the piecewise fitting model) and the actual observation value (real position obtained by UWB) are input into the Kalman filter.

[0162] The Kalman filter calculates the optimal estimation value of the object position based on the difference between the prediction value and the actual value: where K is the Kalman gain matrix, H is the observation transition matrix, is the actual observation value, is the prediction value.

[0163] The Kalman filter can effectively reduce the influence caused by sensor errors, environmental factors, etc. through multiple predictions and updates of the position, and provide more accurate object position estimation value.

[0164] After Kalman filtering, the optimal estimation value of the object position is This value will be used in subsequent collision detection and control strategies to ensure the real-time response capability of the system.

[0165] Then collision judgment is also performed, as shown in step S143.

[0166] First, it is judged whether the hook has collided, and then it is judged whether the tower arm has collided. At this time, a GPS RTK base station and a GPS RTK mobile station need to be arranged, as shown in Figure 11 Each tower is equipped with a GPS RTK base station and multiple GPS RTK mobile stations, wherein the GPS RTK base station is installed in the cab; the GPS RTK mobile stations are installed at the end of the tower arm, the hook, and the ground remote control end.

[0167] Specifically, each tower is equipped with a fixedly installed GPS RTK base station, which is usually placed in the cab of the tower. This base station is used for data exchange with other RTK mobile stations. The GPS RTK mobile stations are installed at the end of the tower arm, the hook, and the ground remote control end to obtain real-time position data of each part.

[0168] On the tower site, the GPS RTK base stations and mobile stations of multiple towers are connected through wireless communication, and data is transmitted through the Lora network, while control commands are transmitted through WiFi.

[0169] In an embodiment, please refer to Figure 8 For the above, the positions of the tower arm and the hook of the tower are obtained in real time through the GPS RTK base station and the GPS RTK mobile station, and coordinate conversion is performed to ensure that the tower arm and the hook do not collide, including steps S140a~ S140f.

[0170] S140a, the positions of the tower arms and the hooks of the two tower cranes are acquired in real time through the GPS RTK base station and the GPS RTK mobile station respectively.

[0171] In the embodiment, the accurate position information of the tower arms and the hooks of the two tower cranes is acquired in real time through the GPS RTK base station and the GPS RTK mobile station, wherein the base station is fixedly installed in the cab of the tower crane, and the mobile station is installed at the end of the tower arm and the hook respectively, so as to ensure that the accurate coordinates of each key position are acquired dynamically in the construction site, and to provide basic data for subsequent anti-collision calculation.

[0172] S140b, the latitude and longitude of the two tower cranes are converted into the Cartesian coordinate system to obtain a conversion result.

[0173] In the embodiment, the conversion result refers to converting the GPS latitude and longitude data of the tower crane into the Cartesian coordinate suitable for the site coordinate system through the coordinate transformation matrix, so as to ensure that the position of the tower crane can be accurately represented in the actual construction environment.

[0174] Since the site scene is in a relatively small range, the latitude and longitude of the tower crane can be approximately regarded as a plane coordinate system, so that the Cartesian coordinate system conversion is performed. This conversion step is very crucial, and the purpose is to convert the latitude and longitude (i.e. spherical coordinates) of the tower crane into the Cartesian coordinate system suitable for the site, wherein m = (lat, lon), and A is a transformation matrix, so as to accurately locate and further calculate.

[0175] Through the transformation matrix H consistent with the site coordinate direction of the base station, the positions of the end of the tower arm and the hook in the base station coordinate are converted into the positions of the end of the tower arm and the hook in the site coordinate system, and so as to ensure that the position calculation is accurate and correct.

[0176] S140c, the positions of the end of the tower arm and the hook relative to the RTK base station are acquired through the RTK mobile station located at the tower arm and the RTK mobile station located at the hook respectively.

[0177] In the embodiment, for the two tower cranes, the coordinates of the tower arms and the hooks are acquired in real time through the RTK base station and the mobile station. When calculating the position information of the end of the tower arm and the hook relative to the base station, the specific coordinates of different positions of each tower crane can be acquired by using the conversion result.

[0178] S140d, the positions of the end of the tower arm and the hook in the site coordinate system are calculated through the transformation matrix combined with the conversion result, the positions of the end of the tower arm and the hook relative to the RTK base station, so as to obtain the positions of the end of the tower arm and the hook of the two tower cranes in the site coordinate system.

[0179] Specifically, by the RTK mobile station of the tower arm and the RTK mobile station of the hook, the positions of the tower arm tip and the hook relative to the RTK base station can be obtained, which are set as and . Assuming that the RTK base station is in the same coordinate direction as the construction site, the transformation matrix of the RTK base station and the construction site coordinates is . Then the tower arm tip in the construction site coordinates can be calculated as , and the hook in the construction site coordinates can be calculated as .

[0180] S140e, according to the positions of the GPS RTK base station of the two tower cranes, the tower arm tip and the hook in the construction site coordinate system, determine whether there is a collision risk.

[0181] In this embodiment, it is ensured that the tower arm tip and the hook do not collide, and the following calculation method is adopted:

[0182] Let the coordinates of the cab, the tower arm tip and the hook of one tower crane be , and the coordinates of the other tower crane be . Then the sufficient condition for the two tower arms and the hook rope not to collide is , and is the angle between the tower arm and the reference line, as shown in Figure 12 .

[0183] S140f, when there is a collision risk, take anti-collision measures.

[0184] If the distance calculation result meets the condition, it means that the tower arms will not collide. On the contrary, if the calculation result shows that there is a collision risk, the system will automatically start anti-collision measures.

[0185] The above-mentioned hook or large arm, as long as there is no collision risk, will continue to be monitored, and once there is a collision risk, anti-collision measures will be taken in time.

[0186] When the working environment of the tower crane changes (such as wind speed change, operation instruction change, etc.), the system will continue to monitor and dynamically adjust the anti-collision strategy. Once potential risks are detected, measures will be taken to avoid collision.

[0187] In summary, the key of the tower crane anti-collision system is to realize accurate positioning, real-time monitoring and rapid response through GPS RTK technology, to ensure the coordinated operation of multiple tower cranes in the construction site and to avoid unnecessary collisions. This system has high safety, which can effectively improve the safety and efficiency of tower crane operation.

[0188] S150, synchronize the position of the remote control end.

[0189] In this embodiment, the automatic control server will acquire the current position information of the hook, and synchronize these information with the remote control end. Synchronization means that the server will compare the current position of the hook through measurement data with the predetermined position of the remote control end, and ensure that the current state of the hook is consistent with the setting of the remote control end control system. In order to achieve this, the server first needs to obtain the real-time position information of the hook through coordination with tower system, RTK base station and other equipment, and compare and calibrate it with the target position set by the remote control end.

[0190] S160, judge whether the position of the remote control end reaches the threshold range of the target position.

[0191] In this embodiment, after synchronizing the position, the server will judge whether the current position of the hook has approached the target position set by the remote control end. This step is based on accurate measurement data, such as the real-time position of the hook obtained by RTK positioning, sensor feedback and other ways. The target position setting usually has an error range, that is, the threshold range, which means that the hook can have a certain deviation, but it can still be considered to reach the target position. If the deviation between the current position of the hook and the target position is within the predetermined threshold range, it is considered to have reached the target position. If the deviation exceeds this threshold, it means that the position is not accurate and needs to be fine-tuned.

[0192] S170, if the position of the remote control end does not reach the threshold range of the target position, fine-tune the position of the tower and execute the synchronization of the position of the remote control end.

[0193] In this embodiment, if it is detected that the position of the hook has not reached the threshold range of the target position, the server will perform fine-tuning operation. This is usually a small adjustment step, the goal of which is to make the operation of the tower more accurate through fine-tuning, so that the hook is closer to the target position of the remote control end. This process is achieved by fine control of the action of the tower, adjustment of the position of the tower arm or change of the suspension angle of the hook, etc.

[0194] After fine-tuning is completed, the server will synchronize the position of the remote control end again and re-judge whether the threshold range of the target position has been reached. Repeat this process until the hook accurately reaches the target position range.

[0195] If the position of the remote control end of the tower reaches the threshold range of the target position, enter the end step.

[0196] In this embodiment, when the server determines that the current position of the hook has entered the threshold range of the target position, it indicates that the hook has accurately reached the predetermined target position, and the fine-tuning process is complete. At this time, the server will enter the end step and stop further fine-tuning operations. The ultimate goal of the operation is to ensure that the accuracy requirements between the hook and the remote end reach or exceed the set allowable error range to complete the task.

[0197] The method of this embodiment can accurately predict the relative position and direction of the hook and the object by combining real-time UWB positioning, Kalman filtering, and motion models, and can detect potential collision risks in real time and take effective anti-collision measures as needed. This technology significantly reduces human operation errors and improves the safety of tower crane operation, especially when working in complex environments.

[0198] The server calculates the movement trajectory based on the initial coordinates of the tower crane, and combines three-dimensional map data with the required lifting height of the hook, etc. to accurately plan the automatic operation path of the tower crane. Automated operation reduces the dependence on human intervention, not only effectively shortening the operation time, but also more efficiently completing tasks in complex working environments.

[0199] Real-time positioning of the tower crane tower arm and hook is performed using GPS RTK technology, combined with coordinate conversion technology to ensure accurate distance measurement between the tower crane and surrounding objects, effectively avoiding collision risks between the tower arm and the hoisting rope. This high-precision positioning and real-time data synchronization ensure coordinated operation of multiple tower cranes, improving the overall efficiency and safety of the work site.

[0200] The above-mentioned tower crane anti-collision and automatic operation method based on positioning tags combines UWB positioning, Kalman filtering, GPS RTK technology, and three-dimensional map data to achieve high-precision real-time position monitoring and rapid response capability of the tower crane; the server calculates the movement trajectory of the tower crane and the lifting height of the hook in real time, and predicts and prevents collision risks between the hook and the object, the tower arm and the hoisting rope based on accurate positioning data; through automatic adjustment of the tower crane position and real-time anti-collision processing, the precision deficiency, slow response, and false alarm problems existing in traditional sensors and manual monitoring are avoided, significantly improving safety and efficiency, and meeting the high-precision requirements in complex construction environments.

[0201] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the above-mentioned embodiments.

[0202] The storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer readable storage media that can store program codes.

[0203] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in the above description in a general manner. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0204] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of each unit is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0205] The steps in the method embodiments of the present application can be adjusted, combined and reduced in sequence according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0206] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a terminal or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0207] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A tower crane anti-collision and automatic operation method based on a positioning tag, characterized in that, The method comprises the following steps: determining the coordinates of the remote control end of the tower crane at the construction site, the coordinates of the cab on the ground, the coordinates of the end of the tower arm on the ground, and the coordinates of the hook on the ground to obtain initial coordinates; calculating a movement trajectory based on the initial coordinates; calculating the required lifting height of the hook in reference to three-dimensional map data in combination with the movement trajectory; during the automatic operation of the tower crane according to the movement trajectory and the required lifting height of the hook, when it is necessary to perform hook anti-collision processing, the real-time UWB positioning and positioning tags are combined, the Kalman filter and the motion model are used to predict the collision risk of the hook and the object, and anti-collision measures are taken; when it is necessary to perform tower group boom anti-collision processing, the positions of the tower arm and the hook of the tower crane are obtained in real time through the GPS RTK base station and the GPS RTK mobile station, and coordinate conversion is performed to ensure that no collision occurs between the tower arm and the hoisting rope; synchronizing the position of the remote control end; judging whether the position of the remote control end reaches the threshold range of the target position; if the position of the remote control end does not reach the threshold range of the target position, fine-tuning the position of the tower crane is performed, and the position of the remote control end is synchronized; if the position of the remote control end of the tower crane reaches the threshold range of the target position, an end step is entered; the calculation of the movement trajectory based on the initial coordinates comprises the following steps: determining the angle at which the tower arm needs to rotate to reach the remote control end based on the included angle relationship of the coordinates of the cab on the ground, the coordinates of the end of the tower arm on the ground, and the coordinates of the remote control end at the construction site; calculating the distance that the trolley needs to move based on the coordinates of the hook on the ground and the coordinates of the remote control end at the construction site; calculating the height that the hook needs to rise based on the Z coordinate value in the coordinates of the hook on the ground and the Z coordinate value in the coordinates of the remote control end at the construction site; wherein the movement trajectory comprises lifting the hook, moving the trolley, rotating the boom, and lowering the hook according to the angle at which the tower arm needs to rotate to reach the remote control end, the distance that the trolley needs to move, and the height that the hook needs to rise; the calculation of the required lifting height of the hook in reference to three-dimensional map data in combination with the movement trajectory comprises the following steps: finding the height of the highest object that needs to be passed in the movement trajectory in the pre-constructed three-dimensional model based on the movement trajectory; adding the height of the highest object to the safety margin of the hook anti-collision, and then subtracting the height that the hook needs to rise, to obtain the required lifting height of the hook; the combination of real-time UWB positioning and positioning tags, the use of Kalman filter and motion model to predict the collision risk of the hook and the object, and the taking of anti-collision measures comprise the following steps: when a UWB tag is detected, judging whether the UWB tag is a hook tag; if the UWB tag is a hook tag, establishing a hook motion model, combining UWB position observation values and Kalman filter, and predicting and optimizing the current position of the hook in real time; judging the collision risk and taking anti-collision measures; when the UWB tag is not a hook tag, establishing an object motion model, combining UWB position observation values and Kalman filter, and predicting and optimizing the current position of the object in real time; and performing the judgment of the collision risk and the taking of anti-collision measures.

2. The tower crane anti-collision and automatic operation method based on positioning tags according to claim 1, characterized in that, The hook motion model is established, and UWB position observation values and Kalman filtering are combined to predict and optimize the current position of the hook in real time, including: A linear equation is used to establish a hook motion model according to the average speed, and the hook motion model is used to calculate a current position prediction value of the hook according to the current speed of the hook and the position data of the UWB tag; Actual position observation values of the hook are obtained in real time through UWB technology; The current position prediction value of the hook and the actual position observation values of the hook are input into a Kalman filter to calculate an optimal estimation value of the position of the hook, forming a Kalman filtering value.

3. The tower crane anti-collision and automatic operation method based on positioning tags according to claim 2, characterized in that, The collision risk is judged and anti-collision measures are taken, including: The relative position and direction between the hook and the object are calculated according to the Kalman filtering value; Whether there is a collision risk between the hook and the object is determined according to the relative position and direction; When there is a collision risk between the hook and the object, an anti-collision mechanism is started to take preventive measures.

4. The tower crane anti-collision and automatic operation method based on positioning tags according to claim 1, characterized in that, The object motion model is established, and UWB position observation values and Kalman filtering are combined to predict and optimize the current position of the object in real time, including: A piecewise fitting method is used to establish an object motion model, and the object motion model is used to calculate a current position prediction value of the object according to the current speed of the object and the position data of the UWB tag; Actual position observation values of the object are obtained in real time through UWB technology; The current position prediction value of the object and the actual position observation values of the object are input into a Kalman filter to calculate an optimal estimation value of the position of the object, forming a Kalman filtering value.

5. The tower crane anti-collision and automatic operation method based on positioning tags according to claim 4, characterized in that, The piecewise fitting method is used to establish an object motion model, including: A uniform speed model is used to establish a preliminary motion model of the object, and the preliminary motion model is used to calculate a current position prediction value of the object according to the position and speed of the UWB tag; Actual position observation values of the object are obtained in real time through UWB technology; When the current position prediction value of the object is greater than the actual position observation value of the object, the last three observation values are selected for polynomial fitting, and an object motion model is constructed according to the fitting result until the current position prediction value of the object is not greater than the actual position observation value of the object.

6. The tower crane anti-collision and automatic operation method based on positioning tags according to claim 1, characterized in that, Each tower crane is configured with a GPS RTK base station and multiple GPS RTK mobile stations, wherein the GPS RTK base station is installed in the cab; the GPS RTK mobile stations are respectively installed at the end of the tower arm, the hook, and the ground remote control end.

7. The tower crane anti-collision and automatic operation method based on positioning tags according to claim 6, characterized in that, The positions of the tower arm and the hook of the tower crane are obtained in real time through the GPS RTK base station and the GPS RTK mobile station, and coordinate conversion is performed to ensure that the tower arm and the hoisting rope do not collide, including: The positions of the tower arm and the hook of the two tower cranes are obtained in real time through the GPS RTK base station and the GPS RTK mobile station; The longitude and latitude of the two tower cranes are converted into a Cartesian coordinate system to obtain a conversion result; The positions of the end of the tower arm and the hook relative to the RTK base station are obtained through the RTK mobile station located at the tower arm and the RTK mobile station located at the hook of the two tower cranes, respectively; The positions of the tower arm ends and the hooks in the work site coordinate system are calculated according to the conversion results, the positions of the tower arm ends and the hooks in the work site coordinate system, and the positions of the two tower cranes relative to the RTK base station through the transformation matrix, so as to obtain the positions of the tower arm ends and the hooks of the two tower cranes in the work site coordinate system. Whether there is a collision risk is determined according to the positions of the GPS RTK base station, the tower arm ends and the hooks of the two tower cranes in the work site coordinate system. When there is a collision risk, a collision prevention measure is taken.

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