CN111198392A - Automatic detection system for lateral perpendicularity of building tower crane based on satellite positioning - Google Patents

Automatic detection system for lateral perpendicularity of building tower crane based on satellite positioning Download PDF

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Publication number
CN111198392A
CN111198392A CN202010031504.5A CN202010031504A CN111198392A CN 111198392 A CN111198392 A CN 111198392A CN 202010031504 A CN202010031504 A CN 202010031504A CN 111198392 A CN111198392 A CN 111198392A
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tower
tower body
lateral
real
arm
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CN111198392B (en
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周命端
鲍宏伟
马博泓
张文尧
赵渊
王家兴
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Beijing University of Civil Engineering and Architecture
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Beijing University of Civil Engineering and Architecture
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/12—Instruments for setting out fixed angles, e.g. right angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude

Abstract

The invention discloses an automatic detection system for the lateral verticality of a construction tower crane based on satellite positioning, which comprises: the tower body detection parameter acquisition unit is used for acquiring the north and east coordinates and the height of the tower body of each detection epoch measured by a tower body GNSS detection station at the center of the tower top of the building tower crane; the real-time eccentric quantity calculating unit is used for determining the real-time eccentric quantity of the north direction of the tower body and the real-time eccentric quantity of the east direction of the tower body according to the coordinates of the north direction and the east direction of the tower body of each detection epoch; the system comprises a tower arm detection parameter acquisition unit, a tower arm detection parameter acquisition unit and a tower arm detection parameter acquisition unit, wherein the tower arm detection parameter acquisition unit is used for acquiring a tower arm north coordinate, a tower arm east coordinate and a tower arm elevation of each detection epoch, which are measured by a tower arm GNSS detection station on a tower arm of a building tower crane; the tower arm azimuth angle determining unit is used for determining a tower arm azimuth angle according to the north and east coordinates of the tower arm and the north and east coordinates of the tower body; and the tower body lateral perpendicularity determining unit determines the tower body lateral perpendicularity according to the real-time eccentricity of the north direction of the tower body, the real-time eccentricity of the east direction of the tower body, the height of the tower body and the azimuth angle of the tower arm.

Description

Automatic detection system for lateral perpendicularity of building tower crane based on satellite positioning
Technical Field
The invention relates to a building tower crane and the technical field of health monitoring and early warning thereof.
Background
The construction tower crane occasionally has the accident to take place, in case the accident takes place will cause great loss. As the height of the tower increases, if the verticality of the tower deviates greatly, a serious safety accident may be caused. Therefore, the verticality detection has great significance for ensuring the safe operation of the tower crane. An important indicator of perpendicularity detection is lateral perpendicularity. Currently, there is no method and system for measuring lateral perpendicularity in real time during operation.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a solution that alleviates or eliminates one or more of the disadvantages of the prior art, and at least provides a useful alternative.
According to one aspect of the invention, an automatic detection system for the lateral perpendicularity of a construction tower crane based on satellite positioning is provided, which comprises: the tower body detection parameter acquisition unit is used for acquiring a tower body north coordinate, a tower body east coordinate and a tower body elevation of each detection epoch measured by a tower body GNSS detection station at the center of the tower top of the building tower crane; the real-time eccentricity calculation unit is used for determining the real-time eccentricity of the north direction of the tower body and the real-time eccentricity of the east direction of the tower body according to the north direction coordinates and the east direction coordinates of the tower body of each detection epoch obtained by the tower body detection parameter acquisition unit; the tower arm detection parameter acquisition unit is used for acquiring a tower arm north coordinate, a tower arm east coordinate and a tower arm elevation of each detection epoch measured by a tower arm GNSS detection station on a tower arm of the building tower crane; the tower arm azimuth angle determining unit is used for determining a tower arm azimuth angle according to the tower arm north coordinate, the tower arm east coordinate, the tower body north coordinate and the tower body east coordinate; and the tower body lateral perpendicularity determining unit determines the tower body lateral perpendicularity according to the north real-time eccentric amount of the tower body, the east real-time eccentric amount of the tower body, the height of the tower body and the azimuth angle of the tower arm.
According to an embodiment, the north coordinates, the east coordinates and the elevation of the tower body of each detection epoch measured by the tower body GNSS detection station, and the north coordinates, the east coordinates and the elevation of the tower arm of each detection epoch measured by the tower arm GNSS detection station are obtained in real time according to the least square parameter estimation principle after the double difference integer ambiguity is determined.
According to one embodiment, the real-time eccentricity of the north and east tower bodies is determined as follows:
Figure BDA0002364471750000021
wherein (Δ x)n,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system; (x)o,yo) Is a plane coordinate of the center position of the tower footing of the building tower crane under a GNSS coordinate system, is known in advance,
Figure BDA0002364471750000022
and the plane coordinates of the tower body GNSS detection station at the nth detection epoch are obtained.
According to one embodiment, the tower arm azimuth determination unit determines the tower arm azimuth in real time as follows:
Figure BDA0002364471750000031
wherein the content of the first and second substances,
Figure BDA0002364471750000032
is the tower arm azimuth;
Figure BDA0002364471750000033
is the plane coordinate of the nth detection epoch of the tower body GNSS detection station in the GNSS coordinate system,
Figure BDA0002364471750000034
the planar coordinates of the nth detection epoch of the tower arm GNSS detection station in the GNSS coordinate system are obtained.
According to one embodiment, the tower body lateral perpendicularity determining unit calculates the building tower X axial lateral perpendicularity as follows:
Figure BDA0002364471750000035
if it is not
Figure BDA0002364471750000036
The tower body lateral perpendicularity determining unit calculates the Y-axis lateral perpendicularity of the building tower crane as follows:
Figure BDA0002364471750000037
if it is not
Figure BDA0002364471750000038
Wherein the content of the first and second substances,
Figure BDA0002364471750000039
(Δxn,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system;
Figure BDA00023644717500000310
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure BDA00023644717500000311
is the X-axis lateral perpendicularity under a tower base plane coordinate system;
Figure BDA00023644717500000312
is at the X-axis side of the tower base plane coordinate systemAn angle of inclination parameter to perpendicularity;
Figure BDA00023644717500000313
is the lateral perpendicularity of the Y axis under a tower base plane coordinate system;
Figure BDA00023644717500000314
is the inclination angle parameter of the Y-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA00023644717500000315
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is a known quantity;
Figure BDA00023644717500000316
α is tower arm azimuth angle of construction tower crane in GNSS coordinate systemtThe tower foundation location azimuth of the building tower crane under the GNSS coordinate system.
According to one embodiment, the tower body lateral perpendicularity determining unit calculates the building tower X axial lateral perpendicularity as follows:
Figure BDA0002364471750000041
if it is not
Figure BDA0002364471750000042
The tower body lateral perpendicularity determining unit calculates the Y-axis lateral perpendicularity of the building tower crane as follows:
Figure BDA0002364471750000043
if it is not
Figure BDA0002364471750000044
Wherein the content of the first and second substances,
Figure BDA0002364471750000045
(Δxn,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system;
Figure BDA0002364471750000046
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure BDA0002364471750000047
is the X-axis lateral perpendicularity under a tower base plane coordinate system;
Figure BDA0002364471750000048
is the inclination angle parameter of X-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA0002364471750000049
is the lateral perpendicularity of the Y axis under a tower base plane coordinate system;
Figure BDA00023644717500000410
is the inclination angle parameter of the Y-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA00023644717500000411
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is a known quantity;
Figure BDA00023644717500000412
α is tower arm azimuth angle of construction tower crane in GNSS coordinate systemtThe tower foundation locating azimuth angle of the building tower crane under the GNSS coordinate system is obtained; epsilon is a parameter of the tower arm swing arm in an X or Y axial allowable range, and can be set according to actual conditions, and epsilon is more than or equal to 0 degree and less than or equal to 90 degrees.
According to an implementation mode, the system further comprises a tower body lateral inclination angle parameter determining unit, and the tower body lateral inclination angle parameter determining unit is used for quantitatively determining the size of the building tower crane tower body X-axis or Y-axis lateral inclination angle parameter.
According to one embodiment, the tower body lateral inclination angle parameter determination unit calculates the building tower crane X axial lateral inclination angle parameter as follows:
Figure BDA0002364471750000051
the tower body lateral inclination angle parameter determining unit calculates the Y-axis lateral inclination angle parameter of the building tower crane as follows:
Figure BDA0002364471750000052
wherein the content of the first and second substances,
Figure BDA0002364471750000053
representing an inclination angle parameter corresponding to the X axial lateral perpendicularity under a tower base plane coordinate system;
Figure BDA0002364471750000054
representing an inclination angle parameter corresponding to the Y-axis lateral perpendicularity under a tower base plane coordinate system;
Figure BDA0002364471750000055
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure BDA0002364471750000056
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane in the GNSS coordinate system is a known quantity.
According to one embodiment, the system further comprises an early warning unit, wherein the early warning unit gives an early warning prompt when the lateral verticality of the tower body is greater than an early warning threshold value, and the early warning threshold value is determined as follows:
I＝0.4％×k
and k is an early warning coefficient, and k is 0.5-3.
According to the technical scheme of the invention, the verticality of the tower body can be detected in real time, the structure is simple, complicated equipment such as an inclination angle sensor does not need to be installed on the tower body, and the safety of building construction operation is improved.
Drawings
The invention may be better understood with reference to the following drawings. The drawings are merely exemplary and are not drawn to scale and are not intended to limit the scope of the invention.
FIG. 1 shows a schematic diagram of a satellite positioning based construction tower body lateral perpendicularity detection system that may be used with an embodiment according to the invention;
FIGS. 2 and 3 are schematic diagrams of the lateral perpendicularity detection of the present invention;
fig. 4 shows a schematic functional block diagram of a system for detecting the lateral verticality of a tower body of a construction tower crane based on satellite positioning according to an embodiment of the present invention.
Fig. 5 shows a schematic functional block diagram of a system for detecting the lateral verticality of a tower body of a construction tower crane based on satellite positioning according to another embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the present invention is not limited thereto. The components that are not relevant to the understanding of the invention, although they are relevant to the operation of the construction tower crane, are not shown in the drawings nor described in the specification, and can be used with various technologies now known or later known, all within the scope of the invention.
Fig. 1 shows a schematic diagram of a system in which a satellite positioning-based construction tower crane (construction tower crane) tower perpendicularity real-time monitoring system according to an embodiment of the invention can be used.
As shown in fig. 1, the construction tower crane to which the present invention can be applied includes a tower body 14, a tower arm 13, a tower body detection station (GNSS Rover) 12 installed on the tower top, and a tower arm detection station 15 installed at the tip of the tower arm, where the detection stations 12 and 15 include a receiver (GPS receiver) that can communicate with a reference station (Base station)11 set on the ground. The reference station 11 can be installed in a wide-view and low-blocking place. The reference station and the detection station can position themselves by positioning the satellite. How the detecting station 12 receives the satellite signals and interacts with the reference station 11, how to receive and use the GNSS satellite differential correction signals can be implemented by any method known in the art, and will not be described herein.
Let n be the number of navigation satellites observed synchronously at a certain detection epoch by a reference station (denoted by subscript B) and a certain detection station (denoted by subscript D)kAnd the satellite k with the largest altitude angle of the synchronously observed navigation satellite is taken as a reference navigation satellite, so that n can be listed under the condition of short base line of a construction sitek-1 double-difference carrier-phase observation equations, the corresponding error equations of which are expressed in matrix form as:
V＝A·δXD+B·▽ΔN+▽ΔL
in the formula (I), the compound is shown in the specification,
V＝[v1v2... vk-1]T，
δXR＝[δxRδyRδzR]T，
Figure BDA0002364471750000072
▽ΔL＝[▽ΔL1▽ΔL2… ▽ΔLk-1]T，
Figure BDA0002364471750000071
where T represents the transpose of the matrix.
From the above equation, once the double-difference integer ambiguity ▽ Δ N is quickly determined, the least squares parameter estimation principle V is usedTPV (min) can obtain the three-dimensional coordinate and precision information of the detection station in real time:
Figure BDA0002364471750000081
in the formula (I), the compound is shown in the specification,
Figure BDA0002364471750000082
estimating the parameters of single epoch detection of a detection station and a co-factor matrix thereof;
Figure BDA0002364471750000083
is an initial value of a parameter to be estimated of a detection station;
Figure BDA0002364471750000084
parameter correction numbers and a co-factor matrix thereof for single epoch detection of a detection station; p is a weight matrix of the double-difference carrier phase observations, i.e.:
Figure BDA0002364471750000085
in the formula, σ2A unit weight variance factor that is a high precision carrier phase observation.
Fig. 2 and 3 are schematic diagrams of the principle of the invention for detecting lateral verticality.
As shown in fig. 2 and 3, a plane coordinate (x) of the center point of the tower base of the construction tower crane under the GNSS coordinate system is assumedo,yo) And elevation Hoα for a tower base seat azimuth angle of a construction tower crane, which is a known quantity in advance and is assumedtThe expression is based on the most north corner point of the tower footing as the starting point, and the plane included angle is formed by clockwise rotating the north coordinate to the first side of the tower footing, as shown in figure 3, α for the construction tower crane on the construction sitetTypically in a known amount in advance.
The plane coordinates and elevations of the tower top detection station and the arm tip detection station in the nth detection epoch under the GNSS coordinate system are respectively assumed to be
Figure BDA0002364471750000086
And
Figure BDA0002364471750000087
then the real-time horizontal azimuth angle of the tower arm swing arm of the construction tower crane under the GNSS coordinate system is as follows:
Figure BDA0002364471750000091
when the building tower crane is in a working state, the horizontal direction of the tower top detection station in the nth detection epoch is compared with the central point plane coordinate (x) of the tower baseo,yo) The north and east eccentricity (delta x) is generatedn,Δyn) Comprises the following steps:
Figure BDA0002364471750000092
as shown in fig. 3, a planar coordinate system (XOY) of the tower footing is established by taking the center point of the tower footing of the construction tower crane as a coordinate origin O, taking the direction perpendicular to the northmost edge of the tower footing as an X-axis, and taking the direction perpendicular to the easterest edge of the tower footing as a Y-axis. In the tower base plane coordinate system (XOY), the plane coordinate of the nth detection epoch of the tower top detection station is assumed to be eccentric from the eccentricity on the X axis and the eccentricity on the Y axis of the tower base central point
Figure BDA0002364471750000093
Is shown to be
Figure BDA0002364471750000094
North and east eccentricity (Deltax) that can be generated by tower top detection station under GNSS coordinate systemn,Δyn) Through plane rotation (α)t+ pi) to obtain:
Figure BDA0002364471750000095
according to the definition of the perpendicularity of the building tower crane, when the swing arm of the tower arm is in the Y-axis direction, the X-axis lateral perpendicularity and the corresponding inclination angle of the building tower crane are measured by using the tower top detection station:
Figure BDA0002364471750000096
similarly, when the tower arm swing arm is just being in the X axle direction, utilize the top of the tower to detect the station and measure building tower machine Y axial side direction straightness that hangs down and the angle of inclination that corresponds and do:
Figure BDA0002364471750000101
in the formula (I), the compound is shown in the specification,
Figure BDA0002364471750000102
expressed as X-axis lateral perpendicularity and its corresponding inclination angle, respectively, under a tower base plane coordinate system (XOY);
Figure BDA0002364471750000103
respectively expressed as the Y-axis lateral perpendicularity and its corresponding inclination angle in the tower base plane coordinate system (XOY).
Fig. 4 shows a schematic functional block diagram of a satellite positioning-based system for monitoring the verticality of a tower body of a construction tower crane in real time according to an embodiment of the present invention.
As shown in fig. 4, the system for monitoring the perpendicularity of the tower body of the construction tower crane based on satellite positioning according to one embodiment of the present invention includes a tower body detection parameter obtaining unit 401, a real-time eccentricity amount calculating unit 402, a tower arm detection parameter obtaining unit 403, a tower arm azimuth angle determining unit 404, and a tower body perpendicularity determining unit 405.
The tower body detection parameter acquisition unit 401 is configured to acquire a tower body northbound coordinate, a tower body eastern coordinate, and a tower body elevation of each detection epoch, which are measured by a tower body GNSS detection station at the center of the tower top of the building tower crane; the real-time eccentricity amount calculating unit 402 is configured to determine a north real-time eccentricity amount of the tower body and a east real-time eccentricity amount of the tower body according to the north coordinates and the east coordinates of the tower body of each detection epoch obtained by the tower body detection parameter obtaining unit; the tower arm detection parameter obtaining unit 403 is configured to obtain a tower arm northbound coordinate and a tower arm eastern coordinate of each detection epoch, which are measured by a tower arm GNSS detection station on a tower arm of the building tower crane; the tower arm azimuth angle determining unit 404 determines a tower arm azimuth angle according to the tower arm north coordinate, the tower arm east coordinate, the tower body north coordinate, and the tower body and tower body east coordinate; the tower perpendicularity determining unit 405 determines the tower perpendicularity according to the real-time eccentricity of the north direction of the tower, the real-time eccentricity of the east direction of the tower, the height of the tower, and the azimuth angle of the tower arm.
Also shown is an early warning unit 406 that may be omitted in some embodiments. The early warning unit 406 performs early warning when the verticality of the tower body is greater than the early warning threshold value.
According to one embodiment, the warning threshold is determined as follows:
I＝0.4％×k
and k is an early warning coefficient, and k is 0.5-3.
According to one embodiment, the north-orientation coordinates, east-orientation coordinates and elevation of the tower of each detection epoch measured by the tower GNSS detection station 12, and the north-orientation coordinates, east-orientation coordinates and elevation of the tower of each detection epoch measured by the tower GNSS detection station 15 are obtained in real time according to the least square parameter estimation principle after the double-difference integer ambiguity is determined. The tower detection parameter obtaining unit 401 may obtain corresponding parameters from the tower GNSS detection station 12.
According to one embodiment, the real-time eccentricity amount calculation unit 402 determines the north real-time eccentricity amount and the east real-time eccentricity amount of the tower body as follows:
Figure BDA0002364471750000111
wherein (Δ x)n,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system; (x)o,yo) Is a plane coordinate of the center position of the tower footing of the building tower crane under a GNSS coordinate system, is known in advance,
Figure BDA0002364471750000112
and the plane coordinates of the tower body GNSS detection station at the nth detection epoch are obtained.
According to an embodiment, the tower arm azimuth determination unit 404 determines the tower arm azimuth in real time as follows:
Figure BDA0002364471750000113
wherein the content of the first and second substances,
Figure BDA0002364471750000121
is the tower arm azimuth;
Figure BDA0002364471750000122
is the plane coordinate of the nth detection epoch of the tower body GNSS detection station in the GNSS coordinate system,
Figure BDA0002364471750000123
the planar coordinates of the nth detection epoch of the tower arm GNSS detection station in the GNSS coordinate system are obtained.
According to one embodiment, tower body lateral perpendicularity determining unit 405 calculates the building tower X axial lateral perpendicularity as follows:
Figure BDA0002364471750000124
if it is not
Figure BDA0002364471750000125
According to one embodiment, tower body lateral perpendicularity determining unit 405 calculates the building tower Y axial lateral perpendicularity as follows:
Figure BDA0002364471750000126
if it is not
Figure BDA0002364471750000127
Wherein the content of the first and second substances,
Figure BDA0002364471750000128
(Δxn,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system;
Figure BDA0002364471750000129
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure BDA00023644717500001210
is the X-axis lateral perpendicularity under a tower base plane coordinate system;
Figure BDA00023644717500001211
is the inclination angle parameter of X-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA00023644717500001212
is the lateral perpendicularity of the Y axis under a tower base plane coordinate system;
Figure BDA00023644717500001213
is the inclination angle parameter of the Y-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA00023644717500001214
the tower elevation for the nth detection epoch for the tower GNSS detection station 12; hoThe tower footing elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is a known quantity;
Figure BDA00023644717500001215
α is tower arm azimuth angle of construction tower crane in GNSS coordinate systemtThe tower foundation location azimuth of the building tower crane under the GNSS coordinate system.
According to one embodiment, tower body lateral perpendicularity determining unit 405 calculates the building tower X axial lateral perpendicularity as follows:
Figure BDA0002364471750000131
if it is not
Figure BDA0002364471750000132
The tower body lateral perpendicularity determining unit 405 calculates the building tower crane Y axial lateral perpendicularity as follows:
Figure BDA0002364471750000133
if it is not
Figure BDA0002364471750000134
Wherein the content of the first and second substances,
Figure BDA0002364471750000135
(Δxn,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system;
Figure BDA0002364471750000136
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure BDA0002364471750000137
is the X-axis lateral perpendicularity under a tower base plane coordinate system;
Figure BDA0002364471750000138
is the inclination angle parameter of X-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA0002364471750000139
is the lateral perpendicularity of the Y axis under a tower base plane coordinate system;
Figure BDA00023644717500001310
is the inclination angle parameter of the Y-axis lateral perpendicularity under the tower base plane coordinate system;
Figure BDA00023644717500001311
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoIs the tower footing elevation of the tower footing center position of the building tower crane under the GNSS coordinate system, namelyA known amount;
Figure BDA00023644717500001312
α is tower arm azimuth angle of construction tower crane in GNSS coordinate systemtThe tower foundation locating azimuth angle of the building tower crane under the GNSS coordinate system is obtained; epsilon is a parameter of the tower arm swing arm in an X or Y axial allowable range, and can be set according to actual conditions, and epsilon is more than or equal to 0 degree and less than or equal to 90 degrees.
Fig. 5 shows a schematic functional block diagram of a satellite positioning-based real-time monitoring system for the perpendicularity of a tower body of a construction tower crane according to another embodiment of the invention.
As shown in fig. 5, the system further comprises a tower lateral tilt angle parameter determination unit 407. The inclination angle parameter determining unit is used for quantitatively determining the size of the inclination angle of the perpendicularity of the tower body of the building tower crane.
According to one embodiment, the tower body lateral inclination angle parameter determination unit 407 calculates the building tower crane X axial lateral inclination angle parameter as follows:
Figure BDA0002364471750000141
the tower body lateral inclination angle parameter determination unit 407 calculates the building tower crane Y-axis lateral inclination angle parameter as follows:
Figure BDA0002364471750000142
wherein the content of the first and second substances,
Figure BDA0002364471750000143
representing an inclination angle parameter corresponding to the X axial lateral perpendicularity under a tower base plane coordinate system;
Figure BDA0002364471750000144
representing an inclination angle parameter corresponding to the Y-axis lateral perpendicularity under a tower base plane coordinate system;
Figure BDA0002364471750000145
is in the plane of the tower baseThe tied north real-time eccentricity and east real-time eccentricity of the tower body;
Figure BDA0002364471750000146
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane in the GNSS coordinate system is a known quantity.
The units of the present invention can be realized by hardware, or by software in combination with hardware.
The above detailed description of the invention is merely to give the person skilled in the art further insight into implementing preferred aspects of the invention, and does not limit the scope of the invention. Only the claims are presented to determine the scope of the invention. Therefore, combinations of features and steps in the foregoing detailed description are not necessary to practice the invention in the broadest sense, and are instead taught merely to particularly detailed representative examples of the invention. Furthermore, the various features of the teachings presented in this specification may be combined in various ways, which, however, are not specifically exemplified, in order to obtain additional useful embodiments of the present invention.

Claims (9)

1. An automatic detection system for lateral perpendicularity of a construction tower crane based on satellite positioning comprises:
the tower body detection parameter acquisition unit is used for acquiring a tower body north coordinate, a tower body east coordinate and a tower body elevation of each detection epoch measured by a tower body GNSS detection station at the center of the tower top of the building tower crane;
the real-time eccentricity calculation unit is used for determining the real-time eccentricity of the north direction of the tower body and the real-time eccentricity of the east direction of the tower body according to the north direction coordinates and the east direction coordinates of the tower body of each detection epoch obtained by the tower body detection parameter acquisition unit;
the tower arm detection parameter acquisition unit is used for acquiring a tower arm north coordinate, a tower arm east coordinate and a tower arm elevation of each detection epoch measured by a tower arm GNSS detection station on a tower arm of the building tower crane;
the tower arm azimuth angle determining unit is used for determining a tower arm azimuth angle according to the tower arm north coordinate, the tower arm east coordinate, the tower body north coordinate and the tower body east coordinate;
and the tower body lateral perpendicularity determining unit determines the tower body lateral perpendicularity according to the north real-time eccentric amount of the tower body, the east real-time eccentric amount of the tower body, the height of the tower body and the azimuth angle of the tower arm.
2. The automatic detection system for the lateral perpendicularity of the building tower crane based on the satellite positioning as recited in claim 1, wherein a north coordinate, a east coordinate and a height of the tower body of each detection epoch measured by the tower body GNSS detection station, and a north coordinate, a east coordinate and a height of the tower arm of each detection epoch measured by the tower arm GNSS detection station are obtained in real time according to a least squares parameter estimation principle after a double-difference integer ambiguity is determined.
3. The automatic detection system for the lateral perpendicularity of the building tower crane based on the satellite positioning as claimed in claim 1, wherein the real-time eccentricity of the north and east directions of the tower body is determined as follows:
Figure FDA0002364471740000021
wherein (Δ x)n,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system; (x)o,yo) Is a plane coordinate of the center position of the tower footing of the building tower crane under a GNSS coordinate system, is known in advance,
Figure FDA0002364471740000022
and the plane coordinates of the tower body GNSS detection station at the nth detection epoch are obtained.
4. The automatic detection system for the lateral verticality of the construction tower crane based on the satellite positioning as claimed in claim 1, wherein the tower arm azimuth angle determination unit determines the tower arm azimuth angle in real time as follows:
Figure FDA0002364471740000023
wherein the content of the first and second substances,
Figure FDA0002364471740000024
is the tower arm azimuth;
Figure FDA0002364471740000025
is the plane coordinate of the nth detection epoch of the tower body GNSS detection station in the GNSS coordinate system,
Figure FDA0002364471740000026
the planar coordinates of the nth detection epoch of the tower arm GNSS detection station in the GNSS coordinate system are obtained.
5. The automatic detection system for the lateral verticality of the construction tower crane based on the satellite positioning as claimed in claim 4, characterized in that,
the tower body lateral perpendicularity determining unit calculates the X axial lateral perpendicularity of the building tower crane as follows:
Figure FDA0002364471740000031
if it is not
Figure FDA0002364471740000032
The tower body lateral perpendicularity determining unit calculates the Y-axis lateral perpendicularity of the building tower crane as follows:
Figure FDA0002364471740000033
if it is not
Figure FDA0002364471740000034
Wherein the content of the first and second substances,
Figure FDA0002364471740000035
(Δxn,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system;
Figure FDA0002364471740000036
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure FDA0002364471740000037
is the X-axis lateral perpendicularity under a tower base plane coordinate system;
Figure FDA0002364471740000038
is the inclination angle parameter of X-axis lateral perpendicularity under the tower base plane coordinate system;
Figure FDA0002364471740000039
is the lateral perpendicularity of the Y axis under a tower base plane coordinate system;
Figure FDA00023644717400000310
is the inclination angle parameter of the Y-axis lateral perpendicularity under the tower base plane coordinate system;
Figure FDA00023644717400000311
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is a known quantity;
Figure FDA00023644717400000312
α is tower arm azimuth angle of construction tower crane in GNSS coordinate systemtIs a tower footing of a building tower crane under a GNSS coordinate systemThe seating azimuth.
6. The automatic detection system for the lateral verticality of the construction tower crane based on the satellite positioning as claimed in claim 4, characterized in that,
the tower body lateral perpendicularity determining unit calculates the X axial lateral perpendicularity of the building tower crane as follows:
Figure FDA00023644717400000313
if it is not
Figure FDA00023644717400000314
The tower body lateral perpendicularity determining unit calculates the Y-axis lateral perpendicularity of the building tower crane as follows:
Figure FDA0002364471740000041
if it is not
Figure FDA0002364471740000042
Wherein the content of the first and second substances,
Figure FDA0002364471740000043
(Δxn,Δyn) Real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a GNSS coordinate system;
Figure FDA0002364471740000044
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure FDA0002364471740000045
is the X-axis lateral perpendicularity under a tower base plane coordinate system;
Figure FDA0002364471740000046
is the inclination angle parameter of X-axis lateral perpendicularity under the tower base plane coordinate system;
Figure FDA0002364471740000047
is the lateral perpendicularity of the Y axis under a tower base plane coordinate system;
Figure FDA0002364471740000048
is the inclination angle parameter of the Y-axis lateral perpendicularity under the tower base plane coordinate system;
Figure FDA0002364471740000049
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is a known quantity;
Figure FDA00023644717400000410
α is tower arm azimuth angle of construction tower crane in GNSS coordinate systemtThe tower foundation locating azimuth angle of the building tower crane under the GNSS coordinate system is obtained; epsilon is a parameter of the tower arm swing arm in an X or Y axial allowable range, and can be set according to actual conditions, and epsilon is more than or equal to 0 degree and less than or equal to 90 degrees.
7. The automatic detection system for the lateral perpendicularity of the building tower crane based on the satellite positioning as claimed in claim 1, further comprising a tower body lateral inclination angle parameter determination unit for quantitatively determining the size of a building tower crane tower body X-axis or Y-axis lateral inclination angle parameter.
8. The automatic detection system for the lateral verticality of the tower body of the construction tower crane based on the satellite positioning as claimed in claim 7,
the tower body lateral inclination angle parameter determining unit calculates the X axial lateral inclination angle parameter of the building tower crane as follows:
Figure FDA0002364471740000051
the tower body lateral inclination angle parameter determining unit calculates the Y-axis lateral inclination angle parameter of the building tower crane as follows:
Figure FDA0002364471740000052
wherein the content of the first and second substances,
Figure FDA0002364471740000053
representing an inclination angle parameter corresponding to the X axial lateral perpendicularity under a tower base plane coordinate system;
Figure FDA0002364471740000054
representing an inclination angle parameter corresponding to the Y-axis lateral perpendicularity under a tower base plane coordinate system;
Figure FDA0002364471740000055
real-time eccentricity of the north direction of the tower body and real-time eccentricity of the east direction of the tower body are measured in a plane coordinate system of the tower base;
Figure FDA0002364471740000056
the tower body elevation of the tower body GNSS detection station at the nth detection epoch is obtained; hoThe tower footing elevation of the center position of the tower footing of the building tower crane in the GNSS coordinate system is a known quantity.
9. The automatic detection system for the lateral perpendicularity of the building tower crane based on the satellite positioning as claimed in claim 1, characterized in that the system further comprises an early warning unit which gives an early warning prompt when the lateral perpendicularity of the tower body is greater than an early warning threshold value, and the early warning threshold value is determined as follows:
I＝0.4％×k
and k is an early warning coefficient, and k is 0.5-3.
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