CN108363085B - Cable crane anti-collision early warning method based on GPS/RFID combined positioning - Google Patents
Cable crane anti-collision early warning method based on GPS/RFID combined positioning Download PDFInfo
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- 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
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- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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Abstract
A cable crane anti-collision early warning method based on GPS/RFID combined positioning comprises the following steps: step 1: presetting safety distance thresholds D1 and D2 corresponding to the second-level early warning level and the third-level early warning level in a computer simulation analysis program; step 2: according to the parameters of the construction equipment: the method comprises the following steps of calculating early warning distances d1 and d2 at secondary and tertiary early warning levels by parameters such as cable machine running speed v1, braking acceleration a1, tower crane running speed v2, braking acceleration a2, field measuring and calculating equipment reaction lag time t1, operator reaction time t2, cable machine lifting rope length l, positioning signal processing and simulation analysis program calculation time t3 and the like; and step 3: the positioning signal processing program optimizes the RFID measured value according to the GPS monitoring signal of the GPS/RFID combined positioning device and determines the accurate equipment distance; and 4, step 4: and monitoring the distance of the equipment in real time, dynamically simulating and calculating in real time to judge the motion condition of the equipment and whether the equipment is within each early warning distance, and sending out a necessary early warning instruction. The anti-collision early warning method provided by the invention can realize effective early warning of collision in the operation of the cable crane tower crane, and greatly avoid equipment collision accidents.
Description
Technical Field
The invention relates to the field of collision early warning of water conservancy and hydropower construction machinery, in particular to a cable crane anti-collision early warning method based on GPS/RFID combined positioning.
Background
In the water conservancy water and electricity construction process, generally can be more use large-scale construction equipment such as tower machine, cable machine, they have wide and the nimble characteristics of operation of coverage, but these equipment are staggered arrangement usually in the space, and the work area very easily produces the overlapping, especially under the weather conditions that visibility is not high such as night, rainy day and haze day, equipment controller receives the influence of factors such as distance, angle, scene light and personnel fatigue, is difficult to accurate estimation probably the distance between the equipment that collides to cause the collision between the construction equipment very easily. In order to prevent the occurrence of equipment collision accidents, the anti-collision measures of the construction equipment need to be taken to effectively control the safe operation of the construction equipment.
The traditional method for anti-collision early warning is manual observation and control, and the method is subject to the human negligence that the sight of observers is poor, operators do not react in time and the like, so that the possibility of equipment collision is high. With the development of the technology, some methods adopt an ultrasonic echo ranging technology to measure the distance between a moving object and surrounding obstacles, firstly, a transmitter transmits signal waves, then a receiver receives target transmitted waves to detect whether a collision object or other moving objects and the distance between the collision object and other moving objects exist, and if the detected distance is smaller than a preset safety distance, an alarm is given, but the technology is only suitable for equipment which is positioned on the same plane and does not rotate; besides the ultrasonic technology, the construction equipment is placed in the same coordinate system, and the distance between each piece of moving equipment and other pieces of moving equipment or obstacles is acquired by adopting the GPS positioning technology. Although the technology makes up for the defects of the ultrasonic technology, the GPS satellite signal is easily interfered by weather, environment and the like, and a GPS device on the field equipment is also easily shielded to cause inaccurate positioning and even failure under the conditions of weak signal and no signal.
Therefore, the anti-collision early warning method is further researched, the problem of inaccurate positioning is solved, and the anti-collision early warning of the operation of the cable crane is realized by applying a computer simulation technology, so that the anti-collision early warning method has important significance.
Disclosure of Invention
The invention provides a cable crane anti-collision early warning method based on GPS/RFID combined positioning, which is more accurate in positioning, has a perfect system and can make a three-level early warning instruction, aiming at the defects of poor equipment positioning signal, inaccurate positioning and imperfect collision early warning system in the existing anti-collision early warning method.
The technical scheme adopted by the invention is as follows:
a cable crane anti-collision early warning method based on GPS/RFID combined positioning comprises the following steps:
step 1: presetting a second-level early warning level and a third-level early warning level in a computer simulation analysis programLevel-corresponding safe distance threshold D1，D2；
Step 2: according to the equipment parameters used in actual construction: running speed v of cable crane1Acceleration of braking a1Running speed v of tower crane2Acceleration of braking a2On-site measuring and calculating the length l of the lifting rope of the cable crane and the reaction delay time t of the equipment1Operator reaction time t2Calculating time t by positioning signal processing and simulation analysis program3Parameters, calculating the early warning distance d under the second-level early warning level and the third-level early warning level1And d2；
And step 3: initializing a positioning system, and preferably selecting an RFID observation value and determining a final observation distance by a positioning signal processing program according to the GPS signal intensity of the GPS/RFID combined positioning device;
and 4, step 4: and (4) monitoring the distance of the equipment in real time, dynamically simulating and calculating in real time to judge the motion condition of the equipment and whether the equipment is within each early warning distance, and sending out a corresponding early warning instruction.
In the step 1, the simulation analysis program is based on a Vaga Prime software platform and C + + language programming, dynamic simulation of three-dimensional animation can be realized, the relative position relationship of the cable crane and the tower crane is calculated in real time, the operation state of the cable crane and the tower crane is judged, and an early warning instruction is output;
in the step 1, the safety distance threshold D corresponding to the second-level early warning level and the third-level early warning level1，D2Dividing the center distance of two devices into 3 areas, namely a safe operation area, an operation interference area and an operation collision area, from far to near; the center distance of the equipment is more than D1The three-dimensional space is a safe operation area, and the center distance of the equipment is between D1And D2Three-dimensional space therebetween is operational interferenceZone, center distance of equipment is less than D2The three-dimensional space of (a) is the operational collision zone.
In the step 2, the early warning distance d between the second-level early warning level and the third-level early warning level is calculated according to all the parameters1And d2The composition is as follows:
the expression of the early warning distance at the secondary early warning level is as follows:
the expression of the early warning distance at the third-level early warning level is as follows:
in the formulas (1) and (2), plus signs of +/-correspond to the opposite operation of two devices, minus signs correspond to the same direction of the two devices or the pursuit operation of the two devices, and v is taken when the pursued devices are static2＝0；
S in formulas (1) and (2)1For the distance that the lifting hook displaces due to the swing of the cable when the equipment is braked, the linear equation expression of the swing of the cable is approximately as follows:
from this, the expression for the cable swing angle θ can be found as:
then S1Can pass through S1L · tan θ;
(iii) S in formulae (1) and (2)2The distance for forcing the mooring rope to swing the lifting hook to move is related to wind speed, wind direction, lifting weight and the like, the distance is generally not less than 2m, and the high-altitude lifting operation should be stopped by gusts of wind above 6 levels;
s in formulas (1) and (2)3For RFID and GPS signalsProcessing and computer software analysis of the calculated time t3The expression of the movement distance of the internal equipment is as follows:
S3＝(v1×t3)±(v2×t3) (5)。
in the step 3, the positioning signal processing program is based on a Matlab software platform and C + + language programming, and can realize reading of positioning signals input into the computer by the GPS and RFID receivers, filtering of abnormal signals, optimization and calculation of more accurate positioning signals and output of the more accurate positioning signals to the designated position of the computer;
in the step 3, the distance is measured and calculated by the RFID positioning by adopting a signal strength indicator (RSSI) algorithm, in a path loss model of RFID signal transmission, p is transmitted reference energy, d is a signal transmission distance s (d, p) is received signal strength in each model, and xi is1For the model parameters, the received signal strength can be expressed as:
in formula (6) d0For reference distances, typically taken as 1m, ξ1In ideal free transmission space, xi, as path attenuation factor1In an actual transmission environment, the value is usually between 2 and 5. The observation distance d between the RFID card reader and the label can be obtained by the following formula:
after the RFID positioning distance is measured, the RFID positioning distance and the GPS observation distance are weighted and calculated according to the proportion of the signal quantity of the RFID positioning distance and the GPS observation distance to be used for joint positioning, in a GPS/RFID combined positioning system, the positioning precision is represented by a GDOP value, the GDOP value monotonically decreases along with the increase of the signal quantity of a GPS observation satellite/signal, the GDOP value is also reduced when the RFID observation value increases, but the influence on the GDOP value is not obvious any more when the RFID observation value is too much, and the calculation process of a computer is more complicated, so the RFID observation value is optimized, and the principle is as follows:
firstly, when the number N of visible satellites of a GPS system is more than or equal to 4, selecting a single RFID observation value according to the criterion of minimum positioning error contribution value;
and when the number of visible satellites of the GPS system is not less than 0 and N is less than 4, preferably selecting 4-N RFID observation values.
The early warning instruction which can be sent out in the step 4 is divided into three grades, and the distance between the first-grade corresponding cable crane and the tower crane is larger than d1The two devices have safe running distance, and a green light is adopted to indicate that a mechanical operator can work normally; the distance between the second stage corresponding to the cable crane and the tower crane is between d1And d2The driver is reminded of needing to prepare to take braking measures at any time by adopting a yellow light with sudden sound; the distance between the cable crane and the tower crane corresponding to the three-level instruction is less than d2Close enough together, a red light is used to flash and cooperate with a sharp sound to alert the mechanical operator that immediate braking action must be taken to stop the device from moving.
The invention relates to a cable crane anti-collision early warning method based on GPS/RFID combined positioning, which has the beneficial effects that:
1: aiming at the defects that the GPS positioning error is easily influenced by the number of satellites and the strength of signals and even positioning cannot be completed in severe cases, a method of combining a Radio Frequency Identification (RFID) positioning technology and a GPS positioning technology is selected, and RFID signals are preferably selected to improve the precision of combined positioning; the surrounding space of the equipment is partitioned, collision models under different relative motion conditions are established, the operation condition of the equipment is subjected to three-dimensional visual simulation and real-time monitoring by using a computer simulation technology, the motion condition of the equipment and whether the equipment is within each early warning distance are calculated and judged, a three-level early warning instruction is sent out in a targeted manner to remind an operator of the equipment, and the occurrence of collision accidents during the operation of the equipment is effectively avoided.
2: the anti-collision early warning method provided by the invention can realize effective early warning of collision in the operation of the cable crane tower crane, and greatly avoid equipment collision accidents.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic control flow diagram of the present invention.
FIG. 2 is a schematic diagram of the GPS/RFID combined positioning system of the present invention.
Fig. 3(a) is a schematic view of the motion condition of the software real-time simulation equipment (the cable crane and the tower crane move towards each other).
Fig. 3(b) is a schematic view of the motion state of the software real-time simulation equipment (the catching up motion of the cable crane and the tower crane).
Fig. 3(c) is a diagram of the motion condition of the software real-time simulation equipment (tower crane and tower crane moving in opposite directions).
Detailed Description
The principle of the invention is as follows: in the running process of the tower crane of the cable crane, a GPS device and an RFID device are used for observing, an RFID signal is optimized by a positioning signal processing program, then the relative distance of the equipment is obtained through the proportional weighting calculation of the number of the two signals, then the running state of the equipment is dynamically simulated and calculated in real time by computer simulation software, and the relative distance of the equipment is at a secondary early warning distance d1Besides, the early warning system keeps a primary early warning instruction, a green indicator lamp is adopted to indicate that the distance between the devices is safe, the devices can normally operate, and once the relative distance between the devices enters a secondary early warning distance d1And a third-level early warning distance d2In the meantime, the early warning system sends out a second-level early warning instruction, adopts a yellow light and a sound accompanied with a rush to remind an operator that a braking measure needs to be prepared to be taken at any time, and when the relative distance of the equipment is less than a third-level early warning distance d2And the early warning system sends a three-level early warning instruction, and a red light is adopted to flicker and cooperate with sharp sound to warn a mechanical operator that a braking measure is required to be taken immediately to stop the equipment from moving.
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, fig. 2, fig. 3(a) -fig. 3(c), the specific flow of the anti-collision early warning method for the cable crane based on GPS/RFID combined positioning according to the present invention is as shown in fig. 1, first, a three-level early warning threshold parameter is preset in a computer simulation analysis program; then, calculating early warning distances at a second early warning level and a third early warning level after parameters for calculating the early warning distances are measured on site according to equipment parameters used in actual construction; in the running process of the equipment, the positioning signal processing program optimizes the RFID observation value according to the GPS signal intensity of the GPS/RFID combined positioning device and determines the final observation distance; and finally, the whole anti-collision early warning system uninterruptedly simulates the dynamic state and monitors the distance of the computing equipment in real time, judges the motion condition of the equipment and judges whether the equipment is in each early warning distance, and sends out a corresponding early warning instruction.
Example 1:
in the embodiment, referring to the configuration and parameters of certain large-scale hydropower project site construction equipment in China, the anti-collision early warning method of the cable crane based on GPS/RFID combined positioning comprises the following specific steps:
step 1: setting a safety distance threshold D corresponding to a second-level early warning level and a third-level early warning level in a computer simulation analysis program1，D2. In this example, D1Is set to 30m, D2Set to 10 m.
Step 2: according to the actually used equipment parameters: running speed v of cable crane1Acceleration of braking a1(ii) a Running speed v of tower crane2Acceleration of braking a2On-site measuring and calculating the length l of the lifting rope of the cable crane and the reaction delay time t of the equipment1Operator reaction time t2Positioning signal processing and simulation analysis program analysis and calculation time t3Isoparametric, calculating the early warning distance d under the second-level early warning level and the third-level early warning level1And d2. In this example, the translational cable crane has a running speed of 3m/s and a braking acceleration of 1.5m/s2The speed of the MD220 fixed tower crane is 1m/s, and the braking acceleration is 0.5m/s2The length of the lifting rope of the cable crane is 12m, the reaction delay of equipment, the reaction time of operators and the time of signal processing and computer program analysis are all 1s, and d is obtained by calculation according to the formula2＝30m，d1＝50m。
And step 3: initializing a positioning system, optimizing an RFID observation value according to the GPS signal intensity of the GPS/RFID combined positioning device by a positioning signal processing program and determining a final observation distance, wherein the working principle and the process of the GPS/RFID combined positioning system are shown in FIG. 2. In this example, there are 4 observable GPS satellite signals, and according to the preferred principles described above, it is desirable to prefer one RFID measurement to minimize the error in the GPS/RFID combined position fix. The RFID tag distance is measured by adopting the signal strength RSSI algorithm and the model, then the optimal error model of the combined positioning is solved by Kalman filtering, 1 RFID measured value which enables the combined positioning error is preferably selected, and the accurate relative distance of the equipment is calculated by weighting.
And 4, step 4: and (4) monitoring the distance of the equipment in real time, dynamically simulating and calculating in real time to judge the motion condition of the equipment and whether the equipment is within each early warning distance, and sending out a corresponding early warning instruction. In this example, the translational cable crane hook is at substantially the same height as the rotary lifting arm of the MD2200 tower crane, and moves horizontally to the tower crane at a speed of 3m/s from a far place, and the rotary lifting arm of the MD2200 tower crane moves to the direction of the cable crane hook at a rotational speed of 1 m/s. As shown in the relative motion diagram of the tower crane in FIG. 3(a), the letter A, B indicates the successive positions of the cable hoist, the arrow indicates the motion direction of the cable hoist, a and b indicate the successive positions of the rotating boom of the tower crane, the arrow indicates the rotation direction of the rotating boom of the tower crane, the shaded part indicates the range swept by the rotating boom, when the cable crane hook and the rotating boom of the tower crane move to the horizontal distance of 50m (d)1) When the system sends out a secondary early warning instruction, the cable crane and the tower crane simultaneously carry out secondary early warning along with the prompt of yellow light and sudden sound, and braking measures are prepared to be taken at any time. After 5 seconds, the horizontal distance between the cable crane hook and the rotary lifting arm of the tower crane is 30m (d)2) When the system sends out a three-level early warning instruction, the cable crane and the tower crane simultaneously carry out three-level early warning along with the prompt of red light and sharp sound, and an operator immediately takes braking measures to stop the equipment from moving. In this case, due to the mechanical and personnel reaction delay and inertia, the cable crane hook and the rotating lifting arm of the tower crane still move for a certain distance, and finally stop moving at a distance of about 10m (D) in the horizontal direction2)。
The parameters of the above embodiments, especially the numerical parameters, are only further illustrative and do not limit the scope of the present invention, and those skilled in the art to which the present invention pertains can make various modifications, additions or substitutions in the described embodiments without departing from the technical spirit of the present invention. The present invention is not limited to the details given herein, but is within the ordinary knowledge of those skilled in the art.
Claims (1)
1. A cable crane anti-collision early warning method based on GPS/RFID combined positioning is characterized by comprising the following steps:
step 1: presetting a safety distance threshold D corresponding to a second-level early warning level and a third-level early warning level in a computer simulation analysis program1，D2；
And 2, step: according to the equipment parameters used in actual construction: running speed v of cable crane1Acceleration of braking a1Running speed v of tower crane2Acceleration of braking a2On-site measuring and calculating the length l of the lifting rope of the cable crane and the reaction delay time t of the equipment1Operator reaction time t2Time t is calculated by positioning signal processing and simulation analysis program3Isoparametric, calculating the early warning distance d under the second-level early warning level and the third-level early warning level1And d2；
In the step 2, various parameters calculate the early warning distance d under the second-level early warning level and the third-level early warning level1And d2The composition is as follows:
the expression of the early warning distance at the secondary early warning level is as follows:
the expression of the early warning distance at the third-level early warning level is as follows:
the method comprises the following steps: in the formulas (1) and (2), plus signs of +/-correspond to the opposite operation of the two devices, minus signs correspond to the same direction of the two devices or the pursuit operation of the two devices, and v is taken when the pursued devices are static2＝0；
Secondly, the step of: s in the formulae (1) and (2)1For the distance that the lifting hook displaces due to the swing of the cable when the equipment is braked, the linear equation expression of the swing of the cable is approximately as follows:
from this, the expression for the cable swing angle θ can be found as:
then S1Can pass through S1L · tan θ;
③: s in the formulae (1) and (2)2The distance for forcing the mooring rope to swing the lifting hook to move is related to wind speed, wind direction, lifting weight and the like, the distance is not less than 2m, and the high-altitude lifting operation should be stopped by gusts of wind above 6 levels;
fourthly, the method comprises the following steps: s in the formulae (1) and (2)3Calculating time t for positioning signal processing and analog analysis3The expression of the movement distance of the internal equipment is as follows:
S3＝(v1×t3)±(v2×t3) (5)；
and step 3: initializing a positioning system, preferably selecting an RFID observation value and determining a final accurate positioning distance by a positioning signal processing program according to the GPS signal intensity of the GPS/RFID combined positioning device;
in the step 3, the distance is measured and calculated by adopting a signal strength (RSSI) algorithm in the RFID positioning, in a path loss model of RFID signal transmission, p is transmitted reference energy, d is a signal transmission distance s (d, p) is received signal strength and xi in each model1For the model parameters, the received signal strength can be expressed as:
formula (A), (B) and6) in d0For reference distances, typically taken as 1m, ξ1In ideal free transmission space, xi, as path attenuation factor12, in the actual transmission environment, the value is between 2 and 5; the observation distance d between the RFID card reader and the label can be obtained by the following formula:
after the RFID positioning distance is measured, the RFID positioning distance and the GPS observation distance are weighted and calculated according to the proportion of the signal quantity of the RFID positioning distance and the GPS observation distance to be used for joint positioning, in a GPS/RFID combined positioning system, the positioning precision is represented by a GDOP value, the GDOP value is monotonically decreased along with the increase of the signal quantity of a GPS observation satellite, when the RFID observation value is increased, the GDOP value is also reduced, but when the RFID observation value is too much, the influence on the GDOP value is not obvious any more, and the calculation process of a computer is more complicated, so the RFID observation value is preferably selected as follows:
firstly, when the number N of visible satellites of the GPS system is more than or equal to 4, selecting a single RFID observation value according to the criterion of minimum positioning error contribution value;
secondly, when the number of visible satellites of the GPS system is not less than 0 and N is less than 4, selecting 4-N RFID observation values;
and 4, step 4: continuously monitoring the distance of the equipment in real time, dynamically simulating and calculating in real time to judge the motion condition of the equipment and whether the equipment is within each early warning distance, and sending out corresponding early warning instructions;
in the step 1, the simulation analysis program is based on a Vaga Prime software platform and C + + language programming, dynamic simulation of three-dimensional animation can be realized, the relative position relationship of a cable crane and a tower crane is calculated in real time, the operation state of the cable crane and the tower crane is judged, an early warning instruction is output, before the program is dynamically simulated, a three-dimensional model of a construction environment, the cable crane and the tower crane is established by CATIA software, 3D Max software is used for introducing the three-dimensional model and rendering the construction environment and a construction mechanical model, the immersion feeling of the three-dimensional model is increased, the rendered model is introduced into a Lynx graphical interface provided by Vaga Prime, and finally a positioning signal is introduced through a plug-in developed by programming to drive the cable crane and the tower crane three-dimensional model to realize dynamic simulation and real-time calculation analysis;
in step 3, the positioning signal processing program is based on a Matlab software platform and C + + language programming, and can realize reading positioning signals input into a computer by a GPS and an RFID receiver, filtering abnormal signals, preferably calculating more accurate positioning signals and then outputting the more accurate positioning signals to a specified position of the computer.
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