CN111198393A - Satellite positioning-based construction tower body verticality real-time detection system - Google Patents

Satellite positioning-based construction tower body verticality real-time detection system Download PDF

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CN111198393A
CN111198393A CN202010031524.2A CN202010031524A CN111198393A CN 111198393 A CN111198393 A CN 111198393A CN 202010031524 A CN202010031524 A CN 202010031524A CN 111198393 A CN111198393 A CN 111198393A
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time
tower
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周命端
马博泓
鲍宏伟
师佳艺
付静弘怡
卢正玚
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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

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
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Abstract

The invention discloses a satellite positioning-based construction tower crane body verticality real-time detection system. The system comprises: the detection parameter acquisition unit is used for acquiring the northbound coordinate, the eastern coordinate and the elevation of each detection epoch measured by a GNSS detection station at the center of the tower top of the building tower crane; the real-time eccentricity parameter calculation unit is used for determining a north real-time eccentricity parameter and an east real-time eccentricity parameter according to the north coordinates and the east coordinates of the detection epochs obtained by the detection parameter acquisition unit; the plane displacement determining unit determines the plane displacement according to the real-time eccentric parameters in the north direction and the real-time eccentric parameters in the east direction; the tower body verticality determining unit is used for determining the tower body verticality according to the plane displacement and the tower body height; and the early warning unit is used for carrying out early warning prompt when the perpendicularity of the tower body is greater than an early warning threshold value.

Description

Satellite positioning-based construction tower body verticality real-time detection system
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. No method and system for performing real-time measurements is currently found.
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, a satellite positioning-based system for detecting the verticality of a tower body of a construction tower crane in real time is provided, which comprises: the detection parameter acquisition unit is used for acquiring the northbound coordinate, the eastern coordinate and the elevation of each detection epoch measured by a GNSS detection station at the center of the tower top of the building tower crane; the real-time eccentricity parameter calculation unit is used for determining a north real-time eccentricity parameter and an east real-time eccentricity parameter according to the north coordinates and the east coordinates of the detection epochs obtained by the detection parameter acquisition unit; the plane displacement determining unit determines the plane displacement according to the real-time eccentric parameters in the north direction and the real-time eccentric parameters in the east direction; the tower body verticality determining unit is used for determining the tower body verticality according to the plane displacement and the tower body height; and the early warning unit is used for carrying out early warning prompt when the perpendicularity of the tower body is greater than an early warning threshold value.
According to one embodiment, the north coordinates, east coordinates and elevation of each detection epoch measured by the GNSS detection station are obtained in real time according to the least squares parameter estimation principle after the double difference integer ambiguity is determined.
According to one embodiment, the real-time eccentricity parameter for north and real-time eccentricity parameters for east are determined as follows:
Figure BDA0002364487430000021
north direction
Figure BDA0002364487430000022
East direction
Wherein, Δ Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively; (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 BDA0002364487430000023
and detecting the plane coordinates of the epoch at the nth detection epoch for the GNSS detection station.
According to one embodiment, the planar displacement amount is calculated as follows:
Figure BDA0002364487430000024
wherein, PnIs the amount of the plane displacement; delta Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively.
According to one embodiment, the tower perpendicularity is determined as follows:
Figure BDA0002364487430000025
wherein, InThe perpendicularity of the construction tower crane of the nth epoch is obtained; pnIs the amount of the plane displacement;
Figure BDA0002364487430000026
an elevation of the GNSS detection station at an nth detection epoch; hoThe elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is known quantity.
According to one implementation mode, the system further comprises an eccentric azimuth parameter determining unit, wherein the eccentric azimuth parameter determining unit is used for determining the eccentric azimuth parameter according to the real-time eccentric parameter in the north direction and the real-time eccentric parameter in the east direction and quantitatively determining the eccentric azimuth of the perpendicularity of the tower body of the building tower crane.
Further, the off-center orientation parameter is calculated as follows:
Figure BDA0002364487430000031
wherein the content of the first and second substances,
Figure BDA0002364487430000032
the eccentric orientation parameter; delta Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively.
According to an implementation mode, the system further comprises an inclination angle parameter determining unit for determining the perpendicularity of the tower body, wherein the inclination angle parameter is determined according to the perpendicularity of the tower body and is used for quantitatively determining the size of the inclination angle of the perpendicularity of the tower body of the building tower crane.
Further, the inclination angle parameter of the tower body perpendicularity is calculated as follows:
Figure BDA0002364487430000033
wherein phinIs the angle of inclination parameter of the tower perpendicularity; pnIs the amount of the plane displacement;
Figure BDA0002364487430000034
an elevation of the GNSS detection station at an nth detection epoch; hoThe elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is known quantity.
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.
The real-time detection system for the perpendicularity of the tower body of the building tower crane based on the satellite positioning, which is provided by the technical scheme of the invention, is not limited to the lateral direction, but can carry out full-circle detection, so the real-time detection system for the full-circle perpendicularity of the tower body of the building tower crane based on the satellite positioning can be also called as the real-time detection system for the full-circle.
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.
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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 system for real-time detection of the perpendicularity of a tower body of a construction tower crane based on satellite positioning, which can be used according to an embodiment of the invention;
fig. 2 shows a schematic functional block diagram of a system for detecting the verticality of a tower body of a construction tower crane based on satellite positioning in real time according to an embodiment of the present invention.
Fig. 3 shows a schematic functional block diagram of a system for detecting the verticality of a tower body of a construction tower crane based on satellite positioning in real time according to another embodiment of the present invention.
Fig. 4 shows a schematic functional block diagram of a system for detecting the verticality of a tower body of a construction tower crane based on satellite positioning in real time according to another embodiment of the present invention.
Fig. 5 shows a schematic functional block diagram of a system for detecting the verticality of the tower body of a construction tower crane based on satellite positioning in real time according to still 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 applicable to the present invention includes a tower body 14 and a tower arm 13, a monitoring station (GNSS Rover) 12 is installed on the tower top, and the monitoring station 12 includes a receiver (GNSS receiver) and 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 monitoring station can position themselves by positioning the satellite. How the monitoring station 12 receives satellite signals and interacts with the reference station 11, how to receive and use GNSS satellite differential correction signals can be implemented by any method known in the art, and is not 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:
Figure BDA0002364487430000051
in the formula (I), the compound is shown in the specification,
V＝[v1v2… vk-1]T，
δXR＝[δxRδyRδzR]T，
Figure BDA0002364487430000061
Figure BDA00023644874300000611
Figure BDA0002364487430000063
where T represents the transpose of the matrix.
From the above formula, once double-differenced integer ambiguity
Figure BDA0002364487430000069
Fast determination, then the principle V is estimated by least square parametersTPV (min) can obtain the three-dimensional coordinate and precision information of the detection station in real time:
Figure BDA0002364487430000064
in the formula (I), the compound is shown in the specification,
Figure BDA0002364487430000065
estimating the parameters of single epoch detection of a detection station and a co-factor matrix thereof;
Figure BDA0002364487430000066
is an initial value of a parameter to be estimated of a detection station;
Figure BDA0002364487430000067
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 BDA0002364487430000068
in the formula, σ2A unit weight variance factor that is a high precision carrier phase observation.
Fig. 2 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. 2, 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 detection parameter obtaining unit 201, a real-time eccentricity parameter calculating unit 202, a plane displacement determining unit 203, a tower body perpendicularity determining unit 204, and an early warning unit 205.
The detection parameter acquiring unit 201 is configured to acquire the north coordinates and the east coordinates of each monitoring epoch, which are measured by a monitoring station at the tower top of the building tower crane. The detection parameter acquisition unit 201 may acquire these coordinates from a monitoring station by wireless transmission, and the monitoring station may also be a part of the detection parameter acquisition unit 201. The real-time eccentricity parameter calculating unit 202 is configured to determine a north real-time eccentricity parameter and an east real-time eccentricity parameter according to the north coordinates and the east coordinates of each monitoring epoch obtained by the detection parameter obtaining unit 201; the plane displacement determining unit 203 determines the plane displacement according to the real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction; the tower perpendicularity determining unit 204 determines the tower perpendicularity according to the plane displacement and the tower height; and the early warning unit 205 is used for carrying out early warning prompt when the verticality of the tower body is greater than an early warning threshold value.
According to one embodiment, the north coordinates, east coordinates, and elevation of each detected epoch as measured by the GNSS detection station 12 are obtained in real time according to the least squares parameter estimation principle after the double difference integer ambiguity is determined as described above.
According to one embodiment, the real-time eccentricity parameter calculation unit 202 determines the north real-time eccentricity parameter and the east real-time eccentricity parameter as follows:
Figure BDA0002364487430000071
north direction
Figure BDA0002364487430000072
East direction
Wherein (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 BDA0002364487430000073
and the plane coordinates and the elevation of the tower top GNSS detection station in the nth detection epoch are obtained.
The plane displacement amount determination unit 203 calculates the plane displacement amount P as followsn：
Figure BDA0002364487430000081
The tower perpendicularity determination unit 204 determines the tower perpendicularity as follows:
Figure BDA0002364487430000082
in the formula InPerpendicularity of construction tower crane for nth epoch, HoThe elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is known quantity.
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. The early warning unit 205 performs early warning when the tower verticality is greater than the early warning threshold.
Fig. 3 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. 3, the real-time monitoring system for perpendicularity of a tower body of a building tower crane based on satellite positioning according to another embodiment of the present invention further includes an eccentric orientation parameter determining unit 206, which determines an orientation parameter according to the real-time north-direction eccentric parameter and the real-time east-direction eccentric parameter, and determines an eccentric orientation parameter, which is used for quantitatively determining an eccentric orientation of the perpendicularity of the tower body of the building tower crane.
According to one embodiment, the eccentric orientation parameter determination unit 206 may calculate the eccentric orientation parameter as follows:
Figure BDA0002364487430000083
wherein the content of the first and second substances,
Figure BDA0002364487430000084
is the eccentric orientation parameter; delta Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively.
The eccentric orientation parameter can be used for facilitating the maintenance or adjustment of the tower body.
Fig. 4 shows a schematic functional block diagram of a system for detecting the verticality of a tower body of a construction tower crane based on satellite positioning in real time according to another embodiment of the present invention.
According to yet another embodiment of the present invention, as shown in fig. 4, according to yet another embodiment of the present invention, the detection system further includes a tilt angle determination unit 207.
According to one embodiment, the inclination angle determination unit 207 calculates the inclination angle parameter of the tower perpendicularity as follows:
Figure BDA0002364487430000091
wherein phinIs the angle of inclination parameter of the tower perpendicularity; pnIs the amount of the plane displacement;
Figure BDA0002364487430000092
an elevation of the GNSS detection station at an nth detection epoch; hoThe elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is known quantity.
Fig. 5 shows a schematic functional block diagram of a system for detecting the verticality of the tower body of a construction tower crane based on satellite positioning in real time according to still another embodiment of the present invention.
As shown in fig. 5, the system for detecting the verticality of the tower body of a construction tower crane based on satellite positioning in real time according to still another embodiment of the present invention includes both an eccentric azimuth parameter determining unit 206 and an inclination angle determining unit 207. The functions and implementations of these two and other units can be referred to the foregoing description, and are not repeated herein.
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 (10)

1. A building tower machine tower body straightness real-time detection system that hangs down based on satellite positioning includes:
the detection parameter acquisition unit is used for acquiring the northbound coordinate, the eastern coordinate and the elevation of each detection epoch measured by a GNSS detection station at the center of the tower top of the building tower crane;
the real-time eccentricity parameter calculation unit is used for determining a north real-time eccentricity parameter and an east real-time eccentricity parameter according to the north coordinates and the east coordinates of the detection epochs obtained by the detection parameter acquisition unit;
the plane displacement determining unit determines the plane displacement according to the real-time eccentric parameters in the north direction and the real-time eccentric parameters in the east direction;
the tower body verticality determining unit is used for determining the tower body verticality according to the plane displacement and the tower body height; and
and the early warning unit is used for carrying out early warning prompt when the perpendicularity of the tower body is greater than an early warning threshold value.
2. The system for detecting the perpendicularity of the tower body of the building tower crane based on the satellite positioning as claimed in claim 1, wherein the north coordinate, the east coordinate and the elevation of each detection epoch measured by the GNSS detection station are obtained in real time according to a least square parameter estimation principle after double-difference integer ambiguity is determined.
3. The satellite positioning-based construction tower crane body verticality real-time detection system according to claim 1, wherein the north real-time eccentricity parameter and the east real-time eccentricity parameter are determined as follows:
Figure FDA0002364487420000011
north direction
Figure FDA0002364487420000021
East direction
Wherein, Δ Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively; (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 FDA0002364487420000022
and detecting the plane coordinates of the epoch at the nth detection epoch for the GNSS detection station.
4. The system for detecting the perpendicularity of the tower body of the building tower crane based on satellite positioning as claimed in claim 3, wherein the plane displacement is calculated as follows:
Figure FDA0002364487420000023
wherein, PnIs the amount of the plane displacement; delta Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively.
5. The satellite positioning-based construction tower crane body verticality real-time detection system according to claim 1, wherein the tower body verticality is determined as follows:
Figure FDA0002364487420000024
wherein, InThe perpendicularity of the construction tower crane of the nth epoch is obtained; pnIs the amount of the plane displacement;
Figure FDA0002364487420000025
an elevation of the GNSS detection station at an nth detection epoch; hoThe elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is known quantity.
6. The satellite positioning-based construction tower crane body perpendicularity real-time detection system according to claim 1, further comprising an eccentric orientation parameter determination unit, wherein the eccentric orientation parameter determination unit is used for determining the eccentric orientation parameter according to the north direction real-time eccentric parameter and the east direction real-time eccentric parameter, and is used for quantitatively determining the eccentric orientation of the construction tower crane body perpendicularity.
7. The satellite positioning-based construction tower crane body verticality real-time detection system according to claim 6, wherein the eccentric orientation parameter is calculated as follows:
Figure FDA0002364487420000031
wherein the content of the first and second substances,
Figure FDA0002364487420000032
the eccentric orientation parameter; delta Nn、ΔEnThe real-time eccentricity parameter of the north direction and the real-time eccentricity parameter of the east direction are respectively.
8. The system for detecting the perpendicularity of the tower body of the building tower crane based on the satellite positioning as claimed in claim 1 or 6, further comprising an inclination angle parameter determining unit for determining an inclination angle parameter according to the perpendicularity of the tower body, so as to quantitatively determine the size of the inclination angle of the perpendicularity of the tower body of the building tower crane.
9. The system for detecting the perpendicularity of the tower body of the building tower crane based on the satellite positioning as claimed in claim 8, wherein the inclination angle parameter of the perpendicularity of the tower body is calculated as follows:
Figure FDA0002364487420000033
wherein phinIs the angle of inclination parameter of the tower perpendicularity; pnIs the amount of the plane displacement;
Figure FDA0002364487420000034
an elevation of the GNSS detection station at an nth detection epoch; hoThe elevation of the center position of the tower footing of the building tower crane under the GNSS coordinate system is known quantity.
10. The satellite positioning-based construction tower crane body verticality real-time monitoring system according to claim 1, wherein the early warning threshold 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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CN113589348B (en) * 2021-06-17 2023-09-22 北京建筑大学 Satellite positioning-based power tower safety monitoring method and system
CN113983920A (en) * 2021-09-26 2022-01-28 广西建工集团智慧制造有限公司 Deformation monitoring method and device for tower crane

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