Method, device and equipment for automatically moving tower crane and medium

Abstract

The invention relates to a tower crane automatic moving method, device and equipment and a medium, and relates to the technical field of intelligent tower cranes. The method comprises the following steps: acquiring a first position of a tower crane and a second position of a target point; wherein the first position is the position of the center point of the tower crane base; the second position is the position obtained by averaging the position information collected by the target point in the sampling time period; performing coordinate conversion on the first position and the second position based on Mercator projection to obtain a third position of the tower crane and a fourth position of the target point; and determining movement information of the tower crane based on the first position, the second position, the third position and the fourth position. By adopting the method, the accurate movement of the tower crane can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent tower cranes, and in particular to a tower crane automatic movement method, device, equipment and medium. BACKGROUND

[0002] With the gradual development of the construction industry towards intelligence and automation, the intelligent control of tower cranes (tower cranes), which are indispensable key equipment in construction, has become an important development direction for improving construction efficiency and ensuring job safety. By introducing an automatic control system, the tower crane can accurately move the hook from any starting point to the target position, thereby reducing manual intervention and improving job accuracy and efficiency.

[0003] Currently, tower crane automatic control technology mainly achieves spatial positioning and movement of the hook by controlling the coordinated action of the hoisting, luffing and slewing mechanisms. However, existing positioning technology cannot achieve real-time positioning with centimeter-level accuracy in the tower crane coordinate system, which makes it difficult for the tower crane automatic control system to accurately obtain the precise position of the rigger (operator), seriously affecting the reliability and safety of the tower crane automatic control.

[0004] Therefore, there is an urgent need for a method that can achieve high-precision positioning in the tower crane coordinate system to achieve accurate movement of the tower crane. SUMMARY

[0005] The present application provides a tower crane automatic movement method, device, equipment and medium, which can achieve accurate movement of the tower crane.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a tower crane automatic movement method, comprising: obtaining a first position of the tower crane and a second position of a target point; wherein the first position is the position of the center point of the tower crane base; and the second position is the position obtained by averaging the position information collected in the sampling period of the target point; based on the Mercator projection, respectively converting the coordinates of the first position and the second position to obtain a third position of the tower crane and a fourth position of the target point; determining the movement information of the tower crane based on the first position, the second position, the third position and the fourth position.

[0007] In one embodiment, based on the Mercator projection, respectively converting the coordinates of the first position and the second position to obtain a third position of the tower crane and a fourth position of the target point, comprising: determining the eccentricity based on the first major axis and the first minor axis; based on the tower crane longitude, the tower crane latitude, the first major axis, the first minor axis and the eccentricity, converting the coordinates of the first position to obtain the third position of the tower crane; perform coordinate conversion on the second position based on the target point longitude, the target point latitude, the first long semi-axis, the first short semi-axis, and the eccentricity, to obtain a fourth position of the target point.

[0008] In one embodiment, the third position of the tower crane is obtained by performing coordinate conversion on the first position based on the tower crane longitude, the tower crane latitude, the first long semi-axis, the first short semi-axis, and the eccentricity, including: determining a first meridian curvature radius of the tower crane based on the tower crane latitude, the first long semi-axis, the first short semi-axis, and the eccentricity; performing coordinate conversion on the first position based on the tower crane longitude, the tower crane latitude, and the first meridian curvature radius, to obtain the third position of the tower crane.

[0009] In one embodiment, the fourth position of the target point is obtained by performing coordinate conversion on the second position based on the target point longitude, the target point latitude, the first long semi-axis, the first short semi-axis, and the eccentricity, including: determining a second meridian curvature radius of the target point based on the target point latitude, the first long semi-axis, the first short semi-axis, and the eccentricity; performing coordinate conversion on the second position based on the target point longitude, the target point latitude, and the second meridian curvature radius, to obtain the fourth position of the target point.

[0010] In one embodiment, the movement information of the tower crane is determined based on the first position, the second position, the third position, and the fourth position, including: determining a planar position of the target point relative to the tower crane based on the tower crane longitude, the tower crane latitude, the target point longitude, and the target point latitude; determining a height position of the target point relative to the tower crane based on the tower crane altitude and the target point altitude; determining the movement information of the tower crane based on the planar position and the height position.

[0011] In one embodiment, the movement information of the tower crane is determined based on the planar position and the height position, including: determining a rotation angle and a luffing amplitude of the tower crane based on the planar position; determining the movement information of the tower crane based on the rotation angle, the luffing amplitude, and the height position.

[0012] In one embodiment, the rotation angle and the luffing amplitude of the tower crane are determined based on the planar position, including: performing conversion on the planar position based on an inverse trigonometric function to determine the rotation angle of the tower crane; performing modulus calculation based on the planar position to determine the luffing amplitude of the tower crane.

[0013] In a second aspect, the present application provides a tower crane automatic moving device, including: The acquisition module is configured to acquire a first position of the tower crane and a second position of the target point, wherein the first position is a position of a center point of a base of the tower crane, and the second position is a position obtained by averaging position information collected by the target point in a sampling period; The conversion module is configured to perform coordinate conversion on the first position and the second position based on Mercator projection to obtain a third position of the tower crane and a fourth position of the target point. The movement module is configured to determine movement information of the tower crane based on the first position, the second position, the third position, and the fourth position.

[0014] In a third aspect, the present application provides a computing device including a memory and a processor. The memory stores one or more computer programs including instructions, and the instructions, when executed by the processor, cause the computing device to perform the method of any one of the first aspect.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program for performing the method of any one of the first aspect.

[0016] In a fifth aspect, the present application provides a computer program product including one or more computer instructions, which, when executed by a computer, cause the computer to perform the method of any one of the first aspect.

[0017] From the above technical solutions, the present application has at least the following beneficial effects: In the present application, the first position of the tower crane and the second position of the target point are acquired to lay a foundation for subsequent position conversion. Further, the first position and the second position can be respectively converted based on Mercator projection to obtain the third position of the tower crane and the fourth position of the target point, and the direction of the movement information is accurately determined. Then, the movement information of the tower crane can be determined based on the first position, the second position, the third position, and the fourth position. The present application provides a solution for position conversion by introducing Mercator projection. Furthermore, the third position of the tower crane and the fourth position of the target point are introduced to ensure the accuracy of the movement information of the tower crane, and finally the precise movement of the tower crane is achieved.

[0018] It should be understood that the description of technical features, technical solutions, advantages or similar language in this application does not imply that all features and advantages can be achieved in any single embodiment. On the contrary, it can be understood that the description of a feature or advantage means that the specific technical feature, technical solution or advantage is included in at least one embodiment. Therefore, the description of technical features, technical solutions or advantages in this specification does not necessarily refer to the same embodiment. Further, the technical features, technical solutions and advantages described in this embodiment can be combined in any appropriate manner. Those skilled in the art will understand that the embodiments can be implemented without one or more specific technical features, technical solutions or advantages of a particular embodiment. In other embodiments, additional technical features and advantages can be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 An application environment diagram of a tower crane automatic moving method provided in an embodiment of the application; Figure 2 A flowchart of a tower crane automatic moving method provided in an embodiment of the application; Figure 3 A structural block diagram of a tower crane automatic moving device provided in an embodiment of the application; Figure 4 An internal structure diagram of a computer device provided in an embodiment of the application. DETAILED DESCRIPTION

[0020] The terms "first", "second" and "third" and the like in the specification and drawings of this application are used to distinguish different objects, not to limit a specific order.

[0021] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration, any implementation described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other implementations. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner. In the embodiments of the present application, the words "first", "second", "third" and the like are used to distinguish different objects, not to limit a specific order.

[0022] For the sake of clear and concise description of the following embodiments, first give a brief introduction of related art: With the gradual development of the construction industry towards intelligence and automation, tower cranes (tower cranes) as indispensable key equipment in construction, its intelligent control has become an important development direction to improve construction efficiency and ensure operation safety. By introducing an automatic control system, the tower crane can accurately move the hook from any starting point to the target position, thereby reducing manual intervention and improving operation accuracy and efficiency.

[0023] Currently, the automatic control technology of tower crane mainly realizes the spatial positioning and movement of the hook by controlling the coordinated action of the three mechanisms of hoisting, luffing and slewing. However, the existing positioning technology cannot realize real-time positioning with centimeter-level precision in the tower crane coordinate system, which leads to the difficulty of the automatic control system of the tower crane in accurately obtaining the precise position of the rigger (operator), and seriously affects the reliability and safety of the automatic control of the tower crane.

[0024] Therefore, there is an urgent need for a method capable of realizing high-precision positioning in the tower crane coordinate system to realize the precise movement of the tower crane.

[0025] In order to make the technical solutions of the present application clearer and easier to understand, the application scenarios of the technical solutions of the present application will be introduced below in conjunction with the drawings. As shown in the figure, the figure is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1

[0026] In this application scenario, high-precision sensors 104 such as RTK (Real-Time Kinematic, real-time dynamic carrier phase difference technology) positioning modules, IMU (Inertial Measurement Unit, inertial measurement unit), stress sensors, etc. are deployed on the key mechanisms (such as hoisting, luffing, slewing mechanism) and target points (such as the safety helmet of the rigger) of the tower crane, so that the sensors 104 start to work cooperatively, continuously collect original physical signals such as satellite radio frequency signals, three-dimensional acceleration, angular velocity, etc., and transmit these multi-modal original data to the server 103 in real time and low delay through 4G / 5G wireless communication technology; then, after receiving the data stream, the server 103 starts a multi-stage analysis pipeline, such as data cleaning and preprocessing, eliminating abnormal values caused by signal shielding or electromagnetic interference, and aligning the time stamps and coordinate systems of data from different sources; then, it enters the core calculation layer, such as Mercator projection transformation, coordinate system conversion and kinematics solving model, which converts the original latitude and longitude, acceleration, etc. into moving control information with centimeter-level precision that can be directly executed by the three mechanisms of the tower crane, such as target luffing amplitude, slewing angle, and hoisting height, etc. Finally, these structured and verified effective moving information are pushed to the intelligent terminal 102 (such as industrial tablet or smart phone) of the on-site operator in real time through a safe API (Application Programming Interface, application programming interface). The special application program or graphical interface on the terminal will clearly and intuitively display the target position and action guidance in various forms such as visual graphics (such as tower crane motion simulation animation), highlighted numbers and text instructions, etc., to assist the operator in decision-making or automatically executed by the system, so as to complete the closed loop from physical world perception to digital instruction generation.

[0027] ​In order to make the technical solutions of the present application clearer and easier to understand, a tower crane automatic moving method provided by the embodiments of the present application is introduced below in combination with the above application scenarios. As shown in Figure 2 FIG. 1 is a flowchart of a tower crane automatic moving method provided by an embodiment of the present application.

[0028] S201, acquiring a first position of a tower crane and a second position of a target point.

[0029] The tower crane is also referred to as a tower crane, which refers to a building hoisting device with three mechanisms of lifting (moving the hook up and down), luffing (extending and retracting the hook horizontally), and rotating (rotating the hook horizontally), i.e., a device that can realize precise movement of the hook through automatic control; the first position is the position of the center point of the tower crane base; the second position is the position obtained by averaging the position information collected by the target point in the sampling period; the target point can refer to the position where the tower crane hook needs to reach, i.e., the position of the operator, which is the terminal target of the automatic operation of the tower crane.

[0030] Optionally, the first position includes the longitude of the tower crane, the latitude of the tower crane, and the altitude of the tower crane, the longitude of the tower crane is the angular coordinate of the center of the tower crane base in the east / west direction of the earth, with the unit of radian, the latitude of the tower crane is the angular coordinate of the center of the tower crane base in the north / south direction of the earth, with the unit of radian, and the altitude of the tower crane is the vertical height of the center of the tower crane base relative to the sea level, with the unit of meters, which can be calibrated through high-precision measurement; the second position includes the longitude of the target point, the latitude of the target point, and the altitude of the target point, which are all accurate positions obtained by averaging.

[0031] For example, a measuring device compatible with the RTK differential positioning system and supporting the CGCS2000 (China Geodetic Coordinate System 2000) coordinate system can be selected to ensure that the device accuracy reaches the millimeter level, and the obstructions around the tower base are cleaned up to ensure that there is no signal interference during measurement. Further, the positioning antenna of the measuring device can be fixed directly above the center point of the tower base, which can be calibrated with a plumb line to ensure that the antenna is completely aligned with the center of the base, and the device signal is stable after standing for 5-10 minutes. Further, the device can be started to collect data, and three sets of longitude and latitude (tower longitude, tower latitude) and altitude (tower altitude) can be continuously collected, with an interval of 1 minute for each set. Furthermore, the three sets of data can be checked, and if the longitude and latitude deviation of each set of data is ≤0.5 mm and the altitude deviation is ≤1 mm, the average value of the three sets of data is taken as the final first position. If the deviation exceeds the range, the antenna position needs to be checked and re-collected until the accuracy requirement is met. Finally, the calibrated first position (tower longitude, tower latitude, tower altitude) can be entered into the database of the tower control system and labeled as "origin reference data". The subsequent conversion process will no longer be repeated unless the tower position moves and needs to be recalibrated.

[0032] For the acquisition of the second position, a safety helmet integrated with an RTK differential positioning module can be provided to the signal operator, such as a positioning antenna installed horizontally at the top of the safety helmet without obstruction, and the safety helmet positioning device is debugged in advance, such as: Check the antenna installation angle: use a level to calibrate the antenna to ensure that the antenna plane is parallel to the ground, avoiding positioning deviation caused by inclination; Signal test: select three test points with known coordinates in the tower operation area, and use the safety helmet device to collect position information. If the deviation is ≤1 cm, the device is qualified, and if the deviation exceeds, the antenna needs to be re-adjusted or the device needs to be replaced; Position collection: after the signal operator arrives at the target point, press the positioning start key on the safety helmet, and the device enters the sampling mode, such as a sampling period of 5 seconds. During the sampling process, the device collects the target point longitude, target point latitude, and target point altitude once every second, and 5 sets of position information are collected within 5 seconds and automatically stored in the local device; Average processing: bubble sort is performed on the 5 sets of position information, taking the target point longitude as an example. The 5 longitude values are sorted from small to large, and the maximum and minimum values are removed, and the arithmetic mean of the remaining 3 values is taken as the final target point longitude. The target point latitude and target point altitude are processed in the same way; Accuracy verification: if the longitude and latitude deviation of the processed target point is less than or equal to 0.8 cm, and the height deviation is less than or equal to 1.5 cm, the mean value is the final second position; if the deviation is out of tolerance, the operator needs to adjust the position, such as avoiding obstacles, and restart the sampling until the accuracy requirement is met.

[0033] Data transmission: after the operator confirms that the second position is qualified, press the data upload key to transmit the second position in real time to the tower crane control system through wireless communication. The data needs to be encrypted during transmission to prevent tampering.

[0034] S202, based on the Mercator projection, the first position and the second position are respectively converted into coordinates to obtain the third position of the tower crane and the fourth position of the target point.

[0035] Wherein, the Mercator projection is a projection algorithm that can convert latitude and longitude (spherical coordinates) into plane rectangular coordinates, which can maintain the accuracy of the direction; the fourth position refers to the plane coordinate of the target point second position in the geodetic coordinate system after conversion by the Mercator projection, which can be represented as , which is the core coordinate describing the plane position of the target point, with the unit of meter; the third position refers to the plane coordinate of the tower crane first position in the geodetic coordinate system after conversion by the Mercator projection, which can be represented as , with the unit of meter.

[0036] It should be noted that the Mercator projection is essentially an orthomorphic cylindrical projection, and its mathematical expression is based on the equator as the reference latitude, which is projected onto the plane after expanding the surface of the Earth ellipsoid along the meridian to the cylindrical surface. The projection formula can be refined as: The plane rectangular coordinate X (longitudinal) projection formula can be represented as: (1) Wherein, λ is the longitude, k is the projection scale factor, which is related to the parameters of the Earth ellipsoid; The plane rectangular coordinate Y (lateral) projection formula can be represented as: (2) Wherein, φ is the latitude, e is the eccentricity of the Earth ellipsoid; In the tower operation scene, the adaptability of the Mercator projection is reflected in three aspects: first, the direction keeping property ensures that the calculation error of the tower boom rotation angle and the target point azimuth is less than 0.1°, meeting the precise positioning requirement; second, the local scale stability, within a tower operation range of 10 kilometers in radius, the deviation rate of the plane coordinate and the actual distance is less than 0.05%, without the need for additional scale correction; third, the parameter compatibility, the CGCS2000 coordinate system core parameters (major semi-axis a = 6378137 m, minor semi-axis b = 6356752.31414 m) can be directly called.

[0037] One implementation manner is to determine an eccentricity based on the first major semi-axis and the first minor semi-axis; perform coordinate conversion on the first position based on the tower longitude, the tower latitude, the first major semi-axis, the first minor semi-axis and the eccentricity to obtain a third position of the tower; perform coordinate conversion on the second position based on the target point longitude, the target point latitude, the first major semi-axis, the first minor semi-axis and the eccentricity to obtain a fourth position of the target point.

[0038] For example, determine the first meridian circle curvature radius of the tower based on the tower latitude, the first major semi-axis, the first minor semi-axis and the eccentricity; perform coordinate conversion on the first position based on the tower longitude, the tower latitude and the first meridian circle curvature radius to obtain a third position of the tower; determine the second meridian circle curvature radius of the target point based on the target point latitude, the first major semi-axis, the first minor semi-axis and the eccentricity; perform coordinate conversion on the second position based on the target point longitude, the target point latitude and the second meridian circle curvature radius to obtain a fourth position of the target point.

[0039] The eccentricity includes a first eccentricity and a second eccentricity, the first major semi-axis is the major semi-axis of the earth ellipsoid under the CGCS2000 coordinate system, which is one of the core parameters describing the shape of the earth ellipsoid and does not change with the position of the tower or the target point; the first minor semi-axis is the minor semi-axis of the earth ellipsoid under the CGCS2000 coordinate system, corresponding to the ellipsoid radius size in the direction of the two poles of the earth; the first eccentricity is mainly used for coordinate conversion in the latitude direction in the Mercator projection of the target point and the tower; the second eccentricity is mainly used for calculating the meridian circle curvature radius; the first meridian circle curvature radius refers to the curvature radius on the meridian circle ellipsoid surface of the tower base center point (i.e. the first position) as the reference, which is a circle passing through the point and perpendicular to the meridian circle, and the unit is meter; the second meridian circle curvature radius refers to the curvature radius on the meridian circle of the target point (i.e. the second position) as the reference, and the unit is meter; the third position refers to the plane coordinate of the tower first position in the geodetic coordinate system after the Mercator projection conversion, which can be expressed as , which is the coordinate form describing the tower origin in the two-dimensional plane space, and the unit is meter; the fourth position refers to the plane coordinate of the target point second position in the geodetic coordinate system after the Mercator projection conversion, which can be expressed as represents the coordinate form of the target point in the two-dimensional space of the plane, and the unit is meter.

[0040] For example, the longitude and latitude of the tower machine origin center point are A is the longitude coordinate (radian) of the tower machine, B is the latitude coordinate (radian) of the tower machine, and the altitude of the tower machine base can be obtained when the longitude and latitude are obtained, which together constitute the first position. First, the first eccentricity and the second eccentricity can be determined based on the first long semi-axis and the first short semi-axis, which can be specifically represented as: (1) (2) wherein, is the first eccentricity, is the second eccentricity, a is the first long semi-axis (km), and b is the first short semi-axis (km).

[0041] The Mercator projection of the tower machine base center point is as follows, and the calculation process of the first prime vertical circle curvature radius is as follows: (3) wherein, N1 is the first prime vertical circle curvature radius; Further, based on the longitude A of the tower machine, the latitude B of the tower machine and the first prime vertical circle curvature radius N1, the coordinate conversion of the first position is carried out to obtain the third position after conversion, and the longitude in the third position can be represented as: (4) It should be noted that in the above formula, In actual calculation, km is converted into meter, which can improve the actual calculation precision.

[0042] By substituting formula (2) and formula (3) into formula (4), the following formula (5) can be obtained: (5) Further, the latitude in the third position can be represented as: (6) By substituting formula (1) and formula (3) into formula (6), the following formula (7) can be obtained: (7) Further, the tower machine base center can be unfolded as format, and the altitude of the tower machine is known, the conversion of the first position is completed, that is, the third position of the tower machine is obtained.

[0043] It should be noted that the coordinates of the target point (such as the rigger) depend on the high-precision RTK differential positioning method, and the positioning antenna should be installed horizontally on the top of the safety helmet without obstruction; the longitude and latitude should be averaged during positioning, such as bubble sorting after sampling 5-second RTK differential data, removing the head and tail data to obtain the average; through this operation, the positioning accuracy can be up to centimeter level.

[0044] Further, the longitude and latitude coordinates of the target point are converted into the geodetic coordinate system, i.e. the fourth position, which is expanded as follows for the Mercator shadow of the third position to obtain the real-time point longitude and latitude of the current target point ( , ), and the relative geodetic coordinates are analyzed ( ). Through formula (5) and formula (7), the following can be obtained: (8) (9) Further, the target point can be expanded as format, and the target point altitude is known, and the conversion of the second position is completed, i.e. the fourth position of the target point is obtained.

[0045] e Another implementation manner can also input the first position and the second position into a conversion model including the Mercator projection method to realize the conversion of the coordinates, and finally obtain the third position of the tower crane and the fourth position of the target point; the conversion model supports multi-source position data input, which can include but is not limited to tower crane GPS (Global Positioning System, global positioning system) positioning data, Beidou dual-mode positioning data, target point laser ranging positioning data, etc., and can also eliminate positioning noise through Kalman filtering algorithm to output stable longitude and latitude data; the conversion model has a built-in Mercator projection core algorithm, which can automatically switch between the equatorial Mercator mode or the horizontal Mercator mode according to the operation area, and when the latitude of the tower crane operation area is higher than 60°, the horizontal Mercator projection is automatically enabled to reduce the deformation; further, the data can be converted to obtain the third position of the tower crane and the fourth position of the target point.

[0046] S203, determining the movement information of the tower crane based on the first position, the second position, the third position and the fourth position.

[0047] The movement information refers to the action parameters of the three mechanisms (hoisting, amplitude changing and slewing) of the tower crane to realize the movement of the hook from the current position to the target point, which can include but is not limited to the hoisting height (the up and down movement distance of the hook), the amplitude changing amplitude (the forward and backward telescopic distance of the boom), and the slewing angle (the horizontal rotation angle of the boom), which is the direct instruction basis for the automatic control of the tower crane.

[0048] In an implementation, a planar position of the target point relative to the tower crane is determined based on a longitude of the tower crane, a latitude of the tower crane, a longitude of the target point, and a latitude of the target point; a height position of the target point relative to the tower crane is determined based on an altitude of the tower crane and an altitude of the target point; and the movement information of the tower crane is determined based on the planar position and the height position.

[0049] For example, a rotation angle of the tower crane and a luffing amplitude are determined based on the planar position; and the movement information of the tower crane is determined based on the rotation angle, the luffing amplitude, and the height position.

[0050] Optionally, the rotation angle of the tower crane is determined by converting the planar position based on an inverse trigonometric function; and the luffing amplitude of the tower crane is determined by performing modulus calculation based on the planar position.

[0051] It should be noted that the planar position of the target point relative to the tower crane refers to parameters of a relative position of the target point in front, behind, left, and right in a two-dimensional planar coordinate system with a center point of a tower crane base as an origin; the height position of the target point relative to the tower crane refers to a relative height difference of the target point in a vertical direction with an altitude of the center point of the tower crane base as a reference, if the result is positive, it represents that the target point is higher than the tower crane reference, and the hook needs to be raised; if it is negative, it represents that the target point is lower than the tower crane reference, and the hook needs to be lowered; the rotation angle of the tower crane refers to an angle that a tower crane slewing mechanism (driving a horizontal rotation of a hoist arm) needs to rotate, the unit is degree, and 0° starting direction is northeast, which is consistent with the east longitude direction of the latitude and longitude, and the angle increases in an anticlockwise direction; the luffing amplitude of the tower crane refers to a distance that a tower crane luffing mechanism (driving a front and back telescoping of the hoist arm) needs to extend or retract, the unit is meter, and the essence is a straight line distance from the center point of the tower crane base (origin) to the target point in the planar coordinate system; the movement information of the tower crane refers to a set of action parameters that the three mechanisms of the tower crane need to perform to realize the movement of the hook from the current position to the target point; the inverse trigonometric function refers to a mathematical tool for converting the planar position of the target point relative to the tower crane into a slewing angle, the core includes an inverse tangent function, different calculation logics need to be selected according to the quadrant (four regions of the planar coordinate system) of the relative coordinates to ensure that the output angle can accurately correspond to the direction of the target point relative to the tower crane, and to avoid the error of the angle calculation leading to the wrong direction of the hoist arm; the modulus calculation refers to a mathematical operation for calculating the luffing amplitude, that is, calculating the vector length of the target point relative to the tower crane in the two-dimensional plane, and the essence is to convert the horizontal offset and the vertical offset in the plane into a straight line distance through the Pythagorean theorem, and the distance is directly equivalent to the amplitude that the tower crane arm needs to extend or retract.

[0052] For example, the planar position of the target point relative to the tower crane is obtained by subtracting the center of the tower crane from the target point geodetic coordinates, that is, the fourth position is subtracted from the third position to obtain the planar position of the target point relative to the tower crane, and the coordinates of the planar position are Specifically, it can be expressed as: (10) Simplify formula (10), we can get: (11) Further, the coordinates of the plane position Transformed into polar coordinates, the scalar of the current plane position coordinates Using the inverse trigonometric function, the relative position of the current positioning point three mechanism (lifting height, rotation angle and amplitude amplitude) is solved, and the solving process is as follows: Lifting height calculation: Lifting height = target point altitude - tower altitude.

[0053] Rotation angle calculation: The rotation angle is calculated in four quadrants, and the calculation method is as follows: (12) Amplitude amplitude calculation: The amplitude amplitude is the modulus value from the origin to the target point position, that is, the amplitude amplitude L is: (13) Optionally, the tower coordinate system three mechanism position calibration requirements are as follows: ①Lifting mechanism coordinate system calibration The final integral position of the lifting mechanism corresponds to the international unit meter; The origin of the lifting mechanism corresponds to the sea level (unify the RTK height coordinate and the tower height coordinate); ②Amplitude mechanism coordinate system calibration The final integral position of the amplitude mechanism corresponds to the international unit meter; The starting point coordinate of the amplitude mechanism coincides with the center point of the tower rotation circle (unify the starting point coordinate of the tower origin coordinate system in the Mercator development geodetic coordinate system); ③Rotation mechanism coordinate system calibration The final integral position of the rotation mechanism corresponds to the degree; The rotation mechanism rotates 360° in one circle; The 0° starting point of the rotation mechanism is the positive east direction (east direction of the longitude and latitude), and the north latitude direction is 90° to establish the counterclockwise original coordinate (unify the Mercator development with the tower origin point (0, 0) coordinate system of the longitude and latitude); In addition, the mapping relationship of the xy representation method of the longitude and latitude coordinate system to the tower coordinate system can be represented as: ①Lifting height coordinate system and the corresponding method of the current altitude coordinate system: The lifting height coordinates have been calibrated in the "Lifting Mechanism Coordinate System Calibration" section of the "Tower Crane Coordinate System Three-Mechanism Position Calibration Requirements", and the coordinate system has been unified. At this time, the altitude corresponds to the relative hook height at this time of lifting. ② Method for corresponding between the variable amplitude coordinate system and the known point scalar modulus coordinate system of latitude and longitude analysis: After the luffing tower crane coordinates have been calibrated by “requirements for the position calibration of the three mechanisms of the tower crane coordinate system” and “calibration of the luffing mechanism coordinate system”, the coordinate system and the starting coordinates have been unified. At this time, the coordinates obtained by formula (13) are the current values ​​with the tower crane (center of rotation) origin as the starting point. ③ Method for corresponding the rotation coordinate system with the target position angle of the known center point: The slewing angle coordinates have been calibrated through the "Tower Crane Coordinate System Three-Mechanism Position Calibration Requirements" and "Slewing Mechanism Coordinate System Calibration", and the coordinate system has been unified. At this time, the angle calculated by formula 12 can be unified with the current coordinate angle of the tower base in terms of dimensions.

[0054] The aforementioned automatic tower crane movement method lays the foundation for subsequent position transformation by acquiring the first position of the tower crane and the second position of the target point. Furthermore, based on Mercator projection, coordinate transformations can be performed on the first and second positions respectively to obtain the third position of the tower crane and the fourth position of the target point, accurately determining the direction of movement. Subsequently, the tower crane's movement information can be determined based on the first, second, third, and fourth positions. This scheme introduces Mercator projection, providing a framework for position transformation; furthermore, by incorporating the third position of the tower crane and the fourth position of the target point, it ensures the accuracy of the tower crane's movement information, ultimately achieving precise tower crane movement.

[0055] The above text combined Figures 1 to 2 The automatic tower crane moving method provided in the embodiments of this application has been described in detail. The apparatus and equipment provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0056] like Figure 3 As shown in the figure, this is a schematic diagram of an automatic tower crane moving device 600 provided in an embodiment of this application. The automatic tower crane moving device 600 includes: an acquisition module 601, a conversion module 602, and a moving module 603, wherein: The acquisition module 601 is used to acquire the first position of the tower crane and the second position of the target point; wherein, the first position is the position of the center point of the tower crane base; and the second position is the position obtained by averaging the position information of the target point collected during the sampling period. The transformation module 602 is used to perform coordinate transformation on the first position and the second position based on Mercator projection to obtain the third position of the tower crane and the fourth position of the target point. The moving module 603 is configured to determine the moving information of the tower crane based on the first position, the second position, the third position and the fourth position.

[0057] In an embodiment, the conversion module 602 is specifically configured to: determine an eccentricity based on the first major axis and the first minor axis; perform coordinate conversion on the first position based on the longitude of the tower crane, the latitude of the tower crane, the first major axis, the first minor axis and the eccentricity to obtain the third position of the tower crane; perform coordinate conversion on the second position based on the longitude of the target point, the latitude of the target point, the first major axis, the first minor axis and the eccentricity to obtain the fourth position of the target point.

[0058] In an embodiment, the conversion module 602 is specifically configured to: determine a first meridian circle curvature radius of the tower crane based on the latitude of the tower crane, the first major axis, the first minor axis and the eccentricity; perform coordinate conversion on the first position based on the longitude of the tower crane, the latitude of the tower crane and the first meridian circle curvature radius to obtain the third position of the tower crane.

[0059] In an embodiment, the conversion module 602 is specifically configured to: determine a second meridian circle curvature radius of the target point based on the latitude of the target point, the first major axis, the first minor axis and the eccentricity; perform coordinate conversion on the second position based on the longitude of the target point, the latitude of the target point and the second meridian circle curvature radius to obtain the fourth position of the target point.

[0060] In an embodiment, the moving module 603 is specifically configured to: determine a planar position of the target point relative to the tower crane based on the longitude of the tower crane, the latitude of the tower crane, the longitude of the target point and the latitude of the target point; determine a height position of the target point relative to the tower crane based on the altitude of the tower crane and the altitude of the target point; determine the moving information of the tower crane based on the planar position and the height position.

[0061] In an embodiment, the moving module 603 is specifically configured to: determine a rotation angle and a luffing amplitude of the tower crane based on the planar position; determine the moving information of the tower crane based on the rotation angle, the luffing amplitude and the height position.

[0062] In an embodiment, the moving module 603 is specifically configured to: determine the rotation angle of the tower crane by performing conversion on the planar position based on an inverse trigonometric function; determine the luffing amplitude of the tower crane by performing modulus calculation based on the planar position.

[0063] The tower crane automatic moving device 600 according to the embodiments of the present application can correspond to performing the methods described in the embodiments of the present application, and the above other operations and / or functions of the various modules / units of the tower crane automatic moving device 600 are respectively implemented in order to realize Figure 2 The corresponding flow of each method in the illustrated embodiments, for the sake of brevity, will not be repeated here.

[0064] The embodiments of the present application also provide a computing device. The computing device can be a local computing device or an application server.

[0065] As Figure 4 shown, the figure is a schematic diagram of a computing device provided by the embodiments of the present application. The computing device 700 includes a bus 701, a processor 702, a communication interface 703 and a memory 704. The processor 702, the memory 704 and the communication interface 703 communicate through the bus 701.

[0066] The bus 701 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 4 only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0067] The processor 702 can be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP), etc.

[0068] The communication interface 703 is used for external communication. For example, the communication interface 703 can be used for communication with the terminal 102. The communication interface 703 is used to send moving information to the terminal 102, so that the terminal 102 displays the moving information of the tower crane.

[0069] Memory 704 may include volatile memory, such as random access memory (RAM). Memory 704 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0070] The memory 704 stores executable code, and the processor 702 executes the executable code to perform the aforementioned tower crane automatic movement method.

[0071] Specifically, in achieving Figure 3 In the case of the illustrated embodiment, and Figure 3 When the modules or units of the tower crane automatic moving device described in the embodiment are implemented through software, the execution... Figure 3 The software or program code required for the functions of each module / unit can be partially or wholly stored in the memory 704. The processor 702 executes the program code corresponding to each unit stored in the memory 704 to execute the aforementioned automatic tower crane movement method.

[0072] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computing device can store, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to execute the above-described tower crane automatic movement method.

[0073] This application also provides a computer program product comprising one or more computer instructions. When the computer instructions are loaded and executed on a computing device, all or part of the processes or functions described in this application are generated.

[0074] The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, or data center to another website, computer, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0075] The computer program product is executed by a computer, and the computer executes any one of the aforementioned tower crane automatic moving methods. The computer program product can be a software installation package, and in a case where any one of the aforementioned tower crane automatic moving methods is needed, the computer program product can be downloaded and executed on the computer.

[0076] The descriptions of the corresponding processes or structures of the various drawings are each focused on, and parts not described in detail in a certain process or structure can be referred to the related descriptions of other processes or structures.

[0077] The above is merely specific implementation of the present application, but the protection scope of the present application is not limited to this, and any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application.

Claims

1. A method for automatically moving a tower crane, characterized in that, The method includes: The first position of the tower crane and the second position of the target point are obtained; wherein, the first position is the position of the center point of the tower crane base; and the second position is the position obtained by averaging the position information of the target point collected during the sampling period. Based on Mercator projection, coordinate transformations are performed on the first and second positions to obtain the third position of the tower crane and the fourth position of the target point. Based on the first, second, third, and fourth positions, the movement information of the tower crane is determined.

2. The method according to claim 1, characterized in that, The first location includes the tower crane's longitude and latitude; the second location includes the target point's longitude and latitude; the step of performing coordinate transformations on the first and second locations based on Mercator projection to obtain the tower crane's third location and the target point's fourth location includes: Determine the eccentricity based on the first major semi-axis and the first minor semi-axis; Based on the tower crane's longitude, latitude, first major semi-axis, first minor semi-axis, and eccentricity, the first position is transformed to obtain the tower crane's third position. Based on the target point's longitude, latitude, first major semi-axis, first minor semi-axis, and eccentricity, the second position is transformed to obtain the target point's fourth position.

3. The method according to claim 2, characterized in that, The process of performing coordinate transformation on the first position based on the tower crane's longitude, latitude, first major semi-axis, first minor semi-axis, and eccentricity to obtain the tower crane's third position includes: Based on the tower crane's latitude, first major semi-axis, first minor semi-axis, and eccentricity, the first maximal radius of curvature of the tower crane is determined. Based on the tower crane's longitude, latitude, and the radius of curvature of the first zonal circle, the first position is transformed to obtain the tower crane's third position.

4. The method according to claim 2, characterized in that, The step of performing coordinate transformation on the second position based on the target point's longitude, latitude, first semi-major axis, first semi-minor axis, and eccentricity to obtain the fourth position of the target point includes: Based on the latitude of the target point, the first semi-major axis, the first semi-minor axis, and the eccentricity, determine the second ramidal radius of curvature of the target point. Based on the target point's longitude, latitude, and the second trochoidal radius of curvature, the second position is transformed to obtain the target point's fourth position.

5. The method according to claim 1, characterized in that, The first location includes the tower crane's longitude, latitude, and altitude; the second location includes the target point's longitude, latitude, and altitude. Determining the tower crane's movement information based on the first, second, third, and fourth positions includes: Based on the tower crane's longitude, tower crane's latitude, target point's longitude, and target point's latitude, determine the target point's planar position relative to the tower crane; Based on the altitude of the tower crane and the altitude of the target point, determine the height position of the target point relative to the tower crane; Based on the planar and height positions, the movement information of the tower crane is determined.

6. The method according to claim 5, characterized in that, Determining the tower crane's movement information based on its planar and height positions includes: Based on the planar position, the rotation angle and amplitude of the tower crane are determined; Based on the rotation angle, amplitude, and height position, the movement information of the tower crane is determined.

7. The method according to claim 6, characterized in that, Determining the tower crane's rotation angle and luffing amplitude based on its planar position includes: Based on the inverse trigonometric function, the planar position is transformed to determine the rotation angle of the tower crane; Based on the planar position, the modulus is calculated to determine the luffing range of the tower crane.

8. An automatic moving device for tower cranes, characterized in that, The device includes: The acquisition module is used to acquire a first position of the tower crane and a second position of the target point; wherein, the first position is the position of the center point of the tower crane base; and the second position is the position obtained by averaging the position information of the target point collected during the sampling period. The transformation module is used to perform coordinate transformation on the first position and the second position based on Mercator projection to obtain the third position of the tower crane and the fourth position of the target point. The movement module is used to determine the movement information of the tower crane based on the first position, the second position, the third position, and the fourth position.

9. A computing device, characterized in that, Including memory and processor; The memory stores one or more computer programs, the one or more computer programs including instructions; when the instructions are executed by the processor, the computing device performs the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for performing the method as described in any one of claims 1 to 7.

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