CN113968539A - Tower crane space positioning method based on ultra wide band - Google Patents
Tower crane space positioning method based on ultra wide band Download PDFInfo
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- CN113968539A CN113968539A CN202111157362.8A CN202111157362A CN113968539A CN 113968539 A CN113968539 A CN 113968539A CN 202111157362 A CN202111157362 A CN 202111157362A CN 113968539 A CN113968539 A CN 113968539A
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- electronic tag
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 14
- 238000004891 communication Methods 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the technical field of tower crane space positioning, in particular to a tower crane space positioning method based on an ultra wide band. The tower crane space positioning method comprises the steps of placing a UWB base station, establishing a Cartesian right-hand coordinate system, installing a UWB electronic tag on a tower crane hook and enabling construction workers to carry the UWB electronic tag; the signal propagation time from the tag to the base station is obtained through communication between the UWB electronic tag and the UWB base station, the distance from the tag to the base station is obtained through the controller, the distance and the known base station coordinate are substituted into an equation set to be solved, the space coordinate of the electronic tag is obtained, and real-time positioning is achieved. The invention can replace ground tower crane commanders to a certain extent, can accurately position workers needing materials and the real-time position of the lifted materials in the air, effectively improves the working efficiency and the work completion quality of tower crane operators, saves the construction cost and improves the safety of construction sites.
Description
Technical Field
The invention relates to the technical field of tower crane space positioning, in particular to a tower crane space positioning method based on an ultra wide band.
Background
The tower crane becomes an indispensable tool in the construction of medium and large-sized buildings. Along with the tower crane is used in different scenes, the discovery uses traditional tower crane to have the vision blind area, and tower crane operating personnel can not observe all positions in the building site completely, and when the darker environment of light condition was constructed with the night environment construction that needs to accelerate the construction progress, tower crane operating personnel often hardly pinpointed the position that the material needed. Although in the tower crane construction process, there is ground commander and tower crane operating personnel to communicate the cooperation, can overcome some the aforesaid condition, the work efficiency of the tower crane that nevertheless reduces, the construction cost that increases, but also has the potential safety hazard.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a tower crane space positioning method based on an ultra wide band. Based on Ultra Wideband (UWB), the technology determines the coordinates of the hoisted material in an established spatial coordinate system. The auxiliary tower crane operator can quickly position the material taking and loading position, particularly the material taking and loading position can be quickly positioned at the position with poor visual conditions and partial visual blind areas without the cooperation of ground commanders, the working efficiency is improved, the construction cost is saved, and the potential safety hazard is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
and S1, installing the UWB base station and establishing a Cartesian right-hand coordinate system.
S2, the UWB electronic label sends out signal, each base station uses TOA or TDOA to obtain the distance between the electronic label and each base station, so as to obtain the unique space coordinate of the electronic label, namely the material, and realize the location under the established coordinate system.
Preferably, the specific steps of establishing the cartesian right-hand coordinate system in step S1 are as follows:
placing a UWB base station 1 at the center of a tower crane supporting frame base, and taking the UWB base station 1 as a coordinate system origin O, placing a UWB base station 2 at the center of a supporting frame at the height of a tower crane cockpit, and enabling a connection line of the UWB base station 1 and the UWB base station 2 to be vertical to a horizontal plane, taking the connection line as a Z axis of the coordinate system, and taking the direction pointing to the sky as the positive direction of the Z axis; placing a UWB base station 3 at the same height position with the UWB base station 2 on an adjacent tower crane, taking the projection of the connection line of the UWB base station 2 and the UWB base station 3 on the horizontal plane as the X axis of a coordinate system, and taking the direction from the UWB base station 2 to the UWB base station 3 as the positive direction of the X axis; rotating the X-axis according to Cartesian's right-hand coordinate System rule
The radian is Y axle, finds one in adjacent tower crane along Y axle direction, places UWB basic station 4 in 2 high departments of UWB basic station on this tower crane.
The distance between every UWB base station is obtained through measurement, and the specific coordinate of every UWB base station in the established coordinate system is obtained through calculation.
Preferably, the specific steps of step S2 are as follows:
the electronic tag sends out signals at the loading or unloading place of the material, and the distance between the electronic tag and each base station is calculated by measuring the propagation time or time difference between the signals and each base station, namely using the TOA or TDOA method
And respectively taking each UWB base station as a sphere center, taking the obtained distance from the electronic tag to each base station as a radius, establishing a spherical coordinate system, and obtaining the space position of the electronic tag by solving an equation set, wherein the common intersection point of the four spherical surfaces is the space position of the electronic tag.
Wherein
、
、
、
Coordinates, R, of four UWB base stations, respectively1、R2、R3、R4Respectively obtaining the space coordinates of the electronic tag by solving the above equation set for the distances from the electronic tag to the four base stations
。
Further preferably, an electronic UWB electronic tag is installed on the hook of the tower crane, and the spatial position of the hook, namely the spatial coordinate of the hoisted material, can be obtained in real time through the processing process of the step S2.
The invention has the following beneficial effects:
1. and establishing a space coordinate system, and sending the obtained distance data to a controller for solving in real time based on ultra-wideband communication to obtain the real-time coordinates of the material in the established Cartesian right-hand coordinate system, so as to realize real-time positioning of the material.
2. The UWB electronic tag is installed in the worker safety helmet, when a worker needs a material, the worker starts signal transmission, the worker position is calculated through the processing of the controller, the position of the position where the material is needed is determined by tower crane operators, the operators are helped to rapidly hoist the material to the worker position under the condition that the auxiliary command of ground commanders is not needed, the construction efficiency can be effectively improved, the construction cost is reduced, and the construction safety is improved.
3. The ultra-wideband signal has strong penetrating power, is not influenced by natural weather conditions, can effectively help operators to position the material when the visibility is low in haze weather and the visual condition is poor due to insufficient illumination at night, and greatly reduces the time spent in the process from lifting the material to placing the material at the position of a worker.
4. The position of the material can be positioned and lifted in real time, so that an operator can be effectively helped to avoid obstacles in the transfer process, and the construction safety is improved.
Drawings
FIG. 1 is a flow chart of a tower crane space positioning method based on ultra wide band of the invention;
FIG. 2 is a schematic diagram of the operation of one embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the determination of Z coordinates during the positioning process of the present invention;
in the figure: 1. a UWB base station 1; 2. a UWB base station 2; 3. a UWB base station 3; 4. a UWB base station 4; 5. a tower crane support frame; 6, a tower crane hook; 7. and (4) a tower crane large arm.
Detailed Description
The technical solution of the present invention will be clear and fully described below with reference to the accompanying drawings of the embodiment and the specification.
Example 1
A tower crane space positioning method based on ultra wide band comprises the following steps:
s1, a cartesian right-hand coordinate system as shown in fig. 2 is established.
UWB basic station 1 and UWB basic station 2 installation as shown in fig. 2, at same tower crane support frame center, and guarantee that the line of two basic stations is perpendicular to the horizontal plane.
The UWB base station 3 and the UWB base station 4 are installed such that a plane formed by the UWB base station 2, the UWB base station 3, and the UWB base station 4 is parallel to a horizontal plane.
The connection line of the UWB base station 4 and the UWB base station 2 may not be perpendicular to the connection line of the UWB base station 3 and the UWB base station 2.
Using the UWB base station 1 as the origin of coordinates, using the connection direction of the UWB base station 1 and the UWB base station 2 as the Z-axis direction, using the connection direction of the UWB base station 2 and the UWB base station 3 as the X-axis direction, and rotating the X-axis counterclockwise through the right-hand coordinate system rule
Determining Y-axis by radian, and establishing a Cartesian right-hand coordinate system.
And S2, realizing positioning under the established coordinate system.
And acquiring the time t taken by the signal to propagate from the electronic tag to each base station by adopting a TOA algorithm.
R=Cｔ
Wherein R is the linear distance from the electronic tag to the base station, and C is the speed of light propagating in the air.
Taking the base station 1 and the base station 2 as the spherical centers, taking the distance between the electronic tag and the two base stations obtained by calculation as the spherical radius to make a spherical surface, and taking the intersecting height H of the two spherical surfaces as the Z-axis coordinate of the electronic tag, as shown in FIG. 3.
Further, the base station 3 is taken as the center of sphere, the distance between the electronic tag and the base station 3 obtained through calculation is taken as the radius of the sphere to form a spherical surface, and the intersection point of the two spherical surfaces is obtained.
Further, the base station 4 is taken as the center of sphere, the distance between the electronic tag and the base station 4 obtained through calculation is taken as the radius of the sphere to form a spherical surface, a unique common intersection point is obtained, the intersection point is the position of the electronic tag, and the coordinate information of the intersection point is obtained to realize positioning.
Example 2
On the basis of embodiment 1, place UWB electronic tags in construction workman's safety helmet or let the workman hand-carry, when the workman needs building material, send the signal and can accomplish the location to this workman, the controller shows workman's position on tower crane control room screen, and help tower crane operating personnel fixes a position workman's position fast, and do not need the supplementary commander in ground to commander.
Example 3
On the basis of the embodiment 1-2, the UWB electronic tag is installed on the tower crane hook, so that the position of the hoisting material in the air can be positioned and displayed in real time, and operators are assisted to avoid some obstacles.
In summary, the present invention is only a preferred embodiment, and is not limited to other forms, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A tower crane space positioning method based on ultra wide band is characterized by comprising the following steps:
s1, installing a UWB base station and establishing a Cartesian right-hand coordinate system; s2, the UWB electronic label sends out signal, each base station uses TOA or TDOA to obtain the distance between the electronic label and each base station, so as to obtain the unique space coordinate of the electronic label, namely the material, and realize the location under the established coordinate system.
2. The ultra-wideband-based tower crane space positioning method according to claim 1, wherein the specific step of establishing the cartesian right-hand coordinate system in step S1 is as follows:
the UWB base station 1 and the UWB base station 2 are installed as shown in figure 2, are arranged at the center of the same tower crane support frame, and ensure that the connecting line of the two base stations is vertical to the horizontal plane; the installation of the UWB base station 3 and the UWB base station 4 needs to meet the condition that a plane formed by the UWB base station 2, the UWB base station 3 and the UWB base station 4 is parallel to a horizontal plane; the connection line of the UWB base station 4 and the UWB base station 2 may not be perpendicular to the connection line of the UWB base station 3 and the UWB base station 2; using the UWB base station 1 as the origin of coordinates, using the connection direction of the UWB base station 1 and the UWB base station 2 as the Z-axis direction, using the connection direction of the UWB base station 2 and the UWB base station 3 as the X-axis direction, and rotating the X-axis counterclockwise through the right-hand coordinate system rule
Determining Y-axis by radian, and establishing a Cartesian right-hand coordinate system.
3. The ultra-wideband-based tower crane space positioning method according to claim 2, wherein the specific steps of step S2 are as follows:
by measuring the propagation time or time difference of signals between the tag and each base station, i.e. using the TOA or TDOA method to calculate the distance between the electronic tag and each base station
Respectively taking each UWB base station as a sphere center, taking the distance between the obtained electronic tag and each base station as a radius, establishing a spherical coordinate system, wherein a common intersection point of the four spherical surfaces is the spatial position of the electronic tag, and the distance is obtained by solving an equation set:
wherein
、
、
、
Coordinates, R, of four UWB base stations, respectively1、R2、R3、R4Respectively obtaining the space coordinates of the electronic tag by solving the above equation set for the distances from the electronic tag to the four base stations
。
4. The ultra-wideband-based tower crane space positioning method according to claims 1-3, characterized in that: and installing the UWB electronic tag on a tower crane hook to position the position of the hoisting material in the air in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111157362.8A CN113968539A (en) | 2021-09-30 | 2021-09-30 | Tower crane space positioning method based on ultra wide band |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111157362.8A CN113968539A (en) | 2021-09-30 | 2021-09-30 | Tower crane space positioning method based on ultra wide band |
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| CN113968539A true CN113968539A (en) | 2022-01-25 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197799A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | UWB-based crane wireless positioning control system and method |
| CN105197800A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | Crane wireless positioning control system and crane wireless positioning control method based on UWB (ultra-wide bandwidth) |
| DE202019107198U1 (en) * | 2019-12-20 | 2020-01-22 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | UWB-based localization for load distributors |
| CN210594992U (en) * | 2019-07-31 | 2020-05-22 | 重庆科技学院 | Tower crane managed by UWB technology |
| CN112437228A (en) * | 2020-10-27 | 2021-03-02 | 北京中铁建建筑科技有限公司 | Tower crane hook visualization method based on UWB following technology |
-
2021
- 2021-09-30 CN CN202111157362.8A patent/CN113968539A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197799A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | UWB-based crane wireless positioning control system and method |
| CN105197800A (en) * | 2015-09-30 | 2015-12-30 | 西安宝德自动化股份有限公司 | Crane wireless positioning control system and crane wireless positioning control method based on UWB (ultra-wide bandwidth) |
| CN210594992U (en) * | 2019-07-31 | 2020-05-22 | 重庆科技学院 | Tower crane managed by UWB technology |
| DE202019107198U1 (en) * | 2019-12-20 | 2020-01-22 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | UWB-based localization for load distributors |
| CN112437228A (en) * | 2020-10-27 | 2021-03-02 | 北京中铁建建筑科技有限公司 | Tower crane hook visualization method based on UWB following technology |
Non-Patent Citations (1)
| Title |
|---|
| 严宏健: ""基于超宽带技术的室内定位系统设计与实现"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
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