Air lifting hook three-dimensional positioning method and system based on UWB positioning system

Abstract

The invention provides a UWB positioning system-based three-dimensional positioning method and system for a lifting hook of a gantry crane, and belongs to the field of indoor and outdoor accurate positioning. The three-dimensional positioning method comprises the following steps: additionally arranging a movable base station which has a two-dimensional positioning system and a positioned function and a one-dimensional distance measurement function right above a lifting hook of the air crane, wherein the height of the movable base station is fixed relative to the ground; through a positioned function, realizing the two-dimensional positioning on a horizontal plane with a fixed base station based on a UWB two-dimensional positioning system, and acquiring the coordinates of the movable base station in the horizontal plane in real time; measuring the vertical distance between the lifting hook label and the lifting hook label in real time through a one-dimensional distance measurement function, and calculating Z-axis real-time coordinates of the lifting hook; and finally, outputting the accurate three-dimensional real-time positioning coordinates of the lifting hook. By additionally arranging the movable base station, the problems that the base station arrangement number of an existing three-dimensional positioning system is large, the communication network and engineering implementation difficulty is large, and the positioning error of multi-layer cargo stacking is large are solved, the three-dimensional positioning precision of the air crane is improved, and the construction and operation and maintenance cost is reduced.

Description

technical field [0001] The invention belongs to the field of precise positioning indoors and outdoors, and in particular relates to a three-dimensional positioning method and system for an aerial crane hook based on a UWB positioning system. Background technique [0002] In the transportation of indoor and outdoor materials, it is often necessary to vertically lift or horizontally transport heavy objects within a certain range, which is usually done by cranes or aerial cranes. The aerial crane lifts heavy objects through the hook. In order to accurately hang or unload heavy objects, it is necessary to position the crane hook relative to the position of the cargo. [0003] In the prior art, two-dimensional or three-dimensional fixed methods are respectively adopted for different cargo stacking forms. In the two-dimensional positioning method, the aerial crane hook locates the cargo position system, the positioning base station is deployed on both sides of the aerial crane, ...

AI Technical Summary

Problems solved by technology

However, since the cargo itself is an obstacle, the three-dimensional positioning error of multi-layer cargo stacking is very large, and the positioning accuracy is not high; at the same time, the number of base stations in the three-dimensional deployment method on the edge of the positioning area is twice that of the traditional UWB two-dimensional positioning deployment method. Communication network and project implementation are more difficult

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