CN108051833B - GNSS tower body health monitoring and early warning system and method of building construction tower crane - Google Patents

GNSS tower body health monitoring and early warning system and method of building construction tower crane Download PDF

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CN108051833B
CN108051833B CN201711234684.1A CN201711234684A CN108051833B CN 108051833 B CN108051833 B CN 108051833B CN 201711234684 A CN201711234684 A CN 201711234684A CN 108051833 B CN108051833 B CN 108051833B
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gnss
tower body
tower
health monitoring
mobile station
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CN108051833A (en
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周命端
杨天宇
郭明
赵西安
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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
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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

The invention discloses a tower body health monitoring and early warning system for a building construction tower crane, wherein the building construction tower crane comprises a tower arm and a tower body, and the health monitoring and early warning system comprises: the system comprises a GNSS reference station, a tower body GNSS mobile station, a health monitoring device and an alarm device, wherein the tower body GNSS mobile station is installed at the top of the tower body, and receives GNSS satellite signals and GNSS satellite differential correction signals from the GNSS reference station, so that the current position information of the tower body GNSS mobile station is determined, and the current position information is sent to the health monitoring device; and the health monitoring device determines whether the position change of the tower body GNSS mobile station exceeds a threshold value according to the current position information and the historical positioning data, and if so, the alarm device gives an alarm.

Description

GNSS tower body health monitoring and early warning system and method of building construction tower crane
Technical Field
The invention relates to a building construction tower crane and a health monitoring and early warning system thereof.
Background
The construction tower crane occasionally has accidents, and once the accidents happen, great loss can be caused, and some accidents are caused by external force, such as hurricane, collision and the like. Some accidents are caused by the collapse of the tower crane, the breakage of the suspension arm and the like. Therefore, it is very important to monitor the health of the tower crane and give an early warning.
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.
In order to achieve the above object, the present invention discloses a GNSS tower body health monitoring and early warning system for a building construction tower crane, the building construction tower crane comprises a tower arm and a tower body, wherein the GNSS health monitoring and early warning system comprises: the system comprises a GNSS reference station, a tower body GNSS mobile station, a health monitoring device and an alarm device, wherein the tower body GNSS mobile station is installed at the top of the tower body, and receives GNSS satellite signals and GNSS satellite differential correction signals from the GNSS reference station, so that the current position information of the tower body GNSS mobile station is determined, and the current position information is sent to the health monitoring device; and the health monitoring device determines whether the position change of the GNSS mobile station exceeds a threshold value according to the current position information and the historical positioning data, and if so, the alarm device gives an alarm.
According to another aspect of the invention, there is provided a GNSS health monitoring and warning system for a construction tower crane, the construction tower crane comprising a tower arm, a tower body and a mobile lifting vehicle slidable on the tower arm, the health monitoring and warning system comprising a GNSS reference station, a mobile vehicle GNSS rover, a health monitoring device and a warning device,
the moving vehicle GNSS mobile station is arranged at the center of the top of the hoisting moving vehicle, receives GNSS satellite signals, and simultaneously receives GNSS satellite differential correction signals from the GNSS reference station, so that the current position information of the moving vehicle GNSS mobile station is determined, and the current position information is sent to the health monitoring device; and the health monitoring device determines whether the elevation change of the GNSS mobile station of the mobile vehicle exceeds a threshold value according to the current position information and the historical positioning data, and if so, the alarm device gives an alarm.
According to the technical scheme of the invention, the safety of the hoisting operation of the building construction tower crane group can be improved.
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The invention may be better understood with reference to the following drawings. The drawings are exemplary only, and are not intended as limitations on the scope of the invention.
FIG. 1 shows a schematic diagram of a health monitoring and warning system for a construction tower crane according to an embodiment of the present invention;
fig. 2 shows a schematic view of a health monitoring and warning system for a construction tower crane according to still another embodiment of the present invention.
Fig. 3 shows a schematic view of a health monitoring and warning system for a construction tower crane according to another embodiment of the present invention.
Fig. 4 shows a schematic flow chart of a tower health monitoring and early warning method according to an embodiment of the 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.
Fig. 1 shows a schematic view of a tower health monitoring and early warning system for a construction tower crane according to an embodiment of the present invention.
As shown in fig. 1, a construction tower crane to which an embodiment of the present invention can be applied includes a fixing device 11, a tower body 12, a tower arm 13, a lifting trolley 14, and a hook member 15. The hoist trolley 14 can move on the boom. The health monitoring and early warning system for the construction tower crane according to one embodiment of the invention comprises a GNSS reference station 17, a tower body GNSS mobile station 16, a health monitoring device 18 and an alarm device 19, wherein the tower body GNSS mobile station 16 is installed on the top of the tower body 12 (in one embodiment, can be located at a top center position), the tower body GNSS mobile station 16 receives GNSS satellite signals, and simultaneously receives GNSS satellite differential correction signals from the GNSS reference station 17, so as to determine the current position information of the tower body GNSS mobile station, and transmits the current position information to the health monitoring device 18; the health monitoring device 18 determines whether the position change of the tower GNSS rover exceeds a threshold value according to the current position information and the historical positioning data, and if the position change of the tower GNSS rover exceeds the threshold value, the health monitoring device instructs an alarm device 19 to give an alarm.
How the tower GNSS rover 16 receives GNSS satellite signals and how it receives and uses GNSS satellite differential correction signals from the GNSS reference station 17 may be implemented using any method known in the art and will not be described in detail herein.
According to one embodiment, the health monitoring device 18 determines the change in position of the tower GNSS rover 16 as follows:
Figure BDA0001488779990000041
wherein (x)n,yn,Hn) Is the three-dimensional coordinate of the current epoch n of the tower body GNSS rover,
Figure BDA0001488779990000042
(Δ x) is the average three-dimensional coordinate of the historical epochn,Δyn,ΔHn) Is a three-dimensional quantity of inclination, Δ S, of the current epoch n of the tower bodynIs the total amount of tilt.
According to one embodiment, the health monitoring device determines the change in position of the GNSS rover as follows:
Figure BDA0001488779990000043
wherein (x)n,yn,Hn) For the three-dimensional coordinates of the current epoch n (n > 1 and n epsilon Z) of the tower body GNSS rover,
Figure BDA0001488779990000051
is a smooth filtering three-dimensional coordinate of the last epoch n-1, and can be obtained by using historical positioning data and adopting a smooth filtering algorithm (delta x)n,Δyn,ΔHn) Is a three-dimensional quantity of inclination, Δ S, of the current epoch n of the tower bodynIs the total amount of tilt.
According to one embodiment, the tilt is measured in three dimensions (Δ x)n,Δyn,ΔHn) Greater than a predetermined warning value EdOr the total inclination amount is larger than the set early warning amount EtAnd then, alarming the inclination of the tower body, wherein the early warning amount calculation formula is as follows:
Figure BDA0001488779990000052
Figure BDA0001488779990000053
wherein a and b are respectively a fixed error and a proportional error of the tower body GNSS rover receiver; the fixed error and the proportional error are the accuracy indexes of the receiver itself of the GNSS rover, and the two indexes are provided by a common commercial GNSS receiver, which is not described herein. L is the height of the tower crane body; k is an early warning coefficient, and the calculation formula is as follows:
k＝(2～3)·m
in the formula, m is the depreciation coefficient of the tower crane and takes a value of 0.6-1.
According to the embodiment of the invention, the deformation condition of the tower body can be known in advance, and the collapse of the tower crane caused by the deformation of the tower body is prevented. The embodiment of the invention sets the early warning amount according to the height of the tower body, and is more accurate.
Fig. 2 shows a schematic view of a health monitoring and warning system for a construction tower crane according to still another embodiment of the present invention. As shown in fig. 2, a construction tower crane to which an embodiment of the present invention can be applied includes a fixing device 11, a tower body 12, a tower arm 13, a lifting trolley 14, and a hook member 15. The hoist trolley 14 can move on the boom. The health monitoring and early warning system for the construction tower crane according to one embodiment of the invention comprises a GNSS reference station 17, a mobile vehicle GNSS mobile station 20, a health monitoring device 21 and an alarm device 19, wherein the mobile vehicle GNSS mobile station 20 is installed on a hoisting mobile vehicle 14, the mobile vehicle GNSS mobile station 20 receives GNSS satellite signals and simultaneously receives GNSS satellite differential correction signals from the GNSS reference station 17, so that the current position information of the mobile vehicle GNSS mobile station is determined, and the current position information is sent to the health monitoring device 21; the health monitoring device 21 determines whether the elevation change of the tower body GNSS mobile station exceeds a threshold value according to the current position information and the historical positioning data, and if the elevation change of the tower body GNSS mobile station exceeds the threshold value, the alarm device 19 is instructed to alarm.
According to one embodiment, the health monitoring device 21 determines elevation changes of the rover GNSS rover as follows:
Figure BDA0001488779990000061
or
Figure BDA0001488779990000062
Wherein h isnFor the high amount of the current epoch n (n > 1 and n e Z) of the rover GNSS rover,
Figure BDA0001488779990000063
is the average high magnitude of the historical epoch,
Figure BDA0001488779990000064
is the smooth filtering height of the last epoch n-1, can be obtained by using historical positioning data and adopting a smooth filtering algorithm, and is delta hnThe amount of the lifting is.
According to one embodiment, the height of the tower arm moving vehicle is raised and lowered by a healthy amount Δ hnGreater than a predetermined warning value EhAnd when the tower crane arm is inclined, alarming the inclination of the tower crane arm, wherein the early warning quantity is determined as follows:
Figure BDA0001488779990000071
where a, b are the fixed error and the proportional error of the receiver of the rover GNSS rover 20, respectively; l is the height of the tower crane body, and the unit is km; k is an early warning coefficient, and the calculation formula is as follows:
k＝(2～3)·m
in the formula, m is the depreciation coefficient of the tower crane and takes a value of 0.6-1.
According to the embodiment of the invention, the deformation condition of the tower arm can be known in advance, and the arm breakage of the tower crane caused by the deformation of the tower arm can be prevented. The embodiment of the invention sets the early warning amount according to the height of the tower body, and is more accurate.
Fig. 3 shows a schematic view of a health monitoring and warning system for a construction tower crane according to another embodiment of the present invention.
Compared with the health monitoring and early warning system shown in fig. 1, the health monitoring and early warning system for the building construction tower crane shown in fig. 3 is additionally provided with the mobile vehicle rover 20, that is, the health monitoring and early warning system for the building construction tower crane shown in fig. 3 is a GNSS dual-rover system, the health monitoring device 31 can determine the elevation change of the mobile vehicle GNSS rover and the position change of the tower body GNSS rover according to the above description and formula, and instruct the alarm device 19 to alarm when the change of the monitoring information (elevation or position) of any rover exceeds a threshold value.
Fig. 4 shows a schematic flow chart of a tower health monitoring and early warning method according to an embodiment of the invention. The tower body health monitoring and early warning method is used for a building construction tower crane, and the building construction tower crane comprises a tower body GNSS mobile station arranged at the top of a tower body of the building construction tower crane.
As shown in fig. 4, a tower health monitoring and early warning method according to an embodiment of the present invention includes the following steps.
Firstly, a step 401 of determining the current position of a tower body GNSS rover station is provided, wherein the tower body GNSS rover station receives GNSS satellite signals and simultaneously receives GNSS satellite difference correction signals from a GNSS reference station, so that the current position information of the tower body GNSS rover station is determined and sent to a health monitoring device.
Next, a change determination step 402 is performed, in which the health monitoring device determines whether the change in the position of the tower GNSS rover exceeds a threshold value according to the current position information and the historical positioning data, and if the change in the position of the tower GNSS rover exceeds the threshold value, an alarm indication is sent to an alarm device.
Then there is an alarm step 403 where the alarm means alarms according to an alarm indication.
According to one embodiment, at the change step 402, the health monitoring device determines a change in position of the turret GNSS rover as follows:
Figure BDA0001488779990000081
wherein (x)n,yn,Hn) For the three-dimensional coordinates of the current epoch n (n > 1 and n epsilon Z) of the tower body GNSS rover,
Figure BDA0001488779990000082
(Δ x) is the average three-dimensional coordinate of the historical epochn,Δyn,ΔHn) Is a three-dimensional quantity of inclination, Δ S, of the current epoch n of the tower bodynIs the total amount of tilt.
According to another embodiment, the health monitoring device determines a change in position of a tower GNSS rover as follows:
Figure BDA0001488779990000091
wherein (x)n,yn,Hn) For the three-dimensional coordinates of the current epoch n (n > 1 and n epsilon Z) of the tower body GNSS rover,
Figure BDA0001488779990000092
is a smooth filtering three-dimensional coordinate of the last epoch n-1, and can be obtained by using historical positioning data and adopting a smooth filtering algorithm (delta x)n,Δyn,ΔHn) Is a three-dimensional quantity of inclination, Δ S, of the current epoch n of the tower bodynIs the total amount of tilt.
When the inclination three-dimensional quantity (Δ x)n,Δyn,ΔHn) Greater than a predetermined warning value EdOr the total inclination amount is larger than the set early warning amount EtAnd then, the change judgment step carries out tower body inclination alarm, wherein the early warning amount calculation formula is as follows:
Figure BDA0001488779990000093
Figure BDA0001488779990000094
wherein a and b are respectively a fixed error and a proportional error of a receiver of the tower body GNSS rover station; l is the height of the tower crane body; k is an early warning coefficient, and the calculation formula is as follows:
k＝(2～3)·m
in the formula, m is the depreciation coefficient of the tower crane and takes a value of 0.6-1.
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 (3)

1. The utility model provides a GNSS tower body health monitoring early warning system for building construction tower crane, building construction tower crane includes tower arm, tower body, and wherein, this health monitoring early warning system includes:
a GNSS reference station, a tower body GNSS mobile station, a health monitoring device and an alarm device,
the tower body GNSS mobile station is arranged at the top of the tower body, receives GNSS satellite signals and simultaneously receives GNSS satellite differential correction signals from the GNSS reference station, so that the current position information of the tower body GNSS mobile station is determined and sent to the health monitoring device;
the health monitoring device determines whether the position change of the tower body GNSS mobile station exceeds a threshold value according to the current position information and the historical positioning data, if so, the alarm device gives an alarm,
wherein the health monitoring device determines a change in position of the tower GNSS rover as follows:
Figure FDA0002199444280000011
wherein (x)n,yn,Hn) Three-dimensional coordinates of the current epoch n for the GNSS rover,
Figure FDA0002199444280000012
is a smooth filtering three-dimensional coordinate of the last epoch n-1, and is obtained by utilizing historical positioning data and adopting a smooth filtering algorithm, (delta x)n,Δyn,ΔHn) Is a three-dimensional quantity of inclination, Δ S, of the current epoch n of the tower bodynFor the total amount of tilt, n > 1 and n ∈ Z,
wherein when the tilt is of three-dimensional magnitude (Δ x)n,Δyn,ΔHn) Greater than a predetermined warning value EdOr the total inclination amount is larger than the set early warning amount EtAnd then, alarming the inclination of the tower body, wherein the early warning amount calculation formula is as follows:
Figure FDA0002199444280000021
Figure FDA0002199444280000022
wherein, a and b are respectively the fixed error and the proportional error of the receiver of the tower GNSS mobile station, L is the height of the tower crane, k is the early warning coefficient, and the calculation formula is as follows:
k＝(2～3)·m
in the formula, m is the depreciation coefficient of the tower crane and takes a value of 0.6-1.
2. The GNSS tower body health monitoring and early warning system of claim 1, wherein the construction tower crane further comprises a hoisting moving vehicle slidable on the tower arm, the health monitoring and early warning system further comprises a moving vehicle GNSS mobile station, the moving vehicle GNSS mobile station is installed at the top center position of the hoisting moving vehicle, the moving vehicle GNSS mobile station receives GNSS satellite signals and simultaneously receives GNSS satellite differential correction signals from the GNSS reference station, so as to determine the current position information of itself and send the current position information to the health monitoring device;
the health monitoring device also determines whether the elevation change of the GNSS mobile station of the mobile vehicle exceeds a threshold value according to the current position information and the historical positioning data, and if the elevation change of the GNSS mobile station of the mobile vehicle exceeds the threshold value, the alarm device gives an alarm.
3. A GNSS tower health monitoring and early warning method is used for a building construction tower crane, the building construction tower crane comprises a tower body GNSS mobile station installed at the top of a tower body of the building construction tower crane, and the method comprises the following steps:
determining the current position of a tower body GNSS mobile station, wherein the tower body GNSS mobile station receives GNSS satellite signals and simultaneously receives GNSS satellite differential correction signals from a GNSS reference station, so that the current position information of the tower body GNSS mobile station is determined;
a change judgment step, namely determining whether the position change of the tower body GNSS mobile station exceeds a threshold value according to the current position information and the historical positioning data, and if so, sending an alarm instruction; and
an alarm step of giving an alarm according to the alarm indication,
wherein, in the change determining step, the position change of the GNSS rover is determined as follows:
Figure FDA0002199444280000031
or
Figure FDA0002199444280000032
Wherein (x)n,yn,Hn) Three-dimensional coordinates of the current epoch n for the GNSS rover,
Figure FDA0002199444280000033
is the average three-dimensional coordinate of the historical epoch,
Figure FDA0002199444280000034
is a smooth filtering three-dimensional coordinate of the last epoch n-1, and can be obtained by using historical positioning data and adopting a smooth filtering algorithm (delta x)n,Δyn,ΔHn) Is a three-dimensional quantity of inclination, Δ S, of the current epoch n of the tower bodynFor the total amount of tilt, n > 1 and n ∈ Z,
wherein when the tilt is of three-dimensional magnitude (Δ x)n,Δyn,ΔHn) Greater than a predetermined warning value EdOr inclinedThe total amount is greater than the set early warning amount EtAnd then, the change judgment step carries out tower body inclination alarm, wherein the early warning amount calculation formula is as follows:
Figure FDA0002199444280000042
wherein, a and b are respectively the fixed error and the proportional error of the receiver of the tower GNSS mobile station, L is the height of the tower crane, k is the early warning coefficient, and the calculation formula is as follows:
k＝(2～3)·m
in the formula, m is the depreciation coefficient of the tower crane and takes a value of 0.6-1.
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CN108873020B (en) * 2018-07-12 2022-01-04 北京建筑大学 Tower crane inclination monitoring and early warning system utilizing GNSS speed measurement technology
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