CN105858480A - Building construction tower crane and its hoisting fixed-point stakeout auxiliary system - Google Patents

Abstract

The invention discloses a building construction tower crane and a hoisting fixed point lofting auxiliary system thereof, wherein the building construction tower crane comprises a cross arm, a lifting rope and a lifting hook, the building construction tower crane is matched with the hoisting fixed point lofting auxiliary system, the hoisting fixed point lofting auxiliary system comprises a reference station, a monitoring device and a client terminal, and the building construction tower crane is characterized by also comprising: the mobile station is arranged on the cross arm and right above the lifting hook; the system comprises a travelling station, a monitoring device and an odometer, wherein the odometer is used for detecting the mileage of a lifting rope, the travelling station receives satellite differential correction signals from a reference station to obtain position information of the travelling station, the position information is sent to the monitoring device, the odometer obtains the mileage of the lifting rope, and the monitoring device determines the position of a lifting hook according to the mileage of the lifting rope and the position information of the travelling station. According to the technical scheme of the invention, the process links of a manual on-duty method can be reduced, and the intuition, simplicity, accuracy and high efficiency of hoisting operation are improved.

Description

Building construction tower crane and its hoisting fixed-point stakeout auxiliary system

technical field

The invention relates to a tower crane for building construction and an auxiliary system for hoisting and fixed-point setting-out, which assists the tower crane in precisely fixing and setting-out.

Background technique

At present, during the hoisting operation of the building construction tower crane, the position of the hook is determined to be manually guarded. For example, a tower crane is disclosed in ZL200620036492.0. As shown in FIG. 1 , in the tower crane, the operator uses a mirror 19 on the seat to observe the working condition of the suspended object. In other tower cranes of the prior art, there is also the use of setting a red flag on the boom for observation. Such observations are not accurate enough and require high requirements for operators. In addition, the tower cranes in the prior art also require the operator and the hoist to establish a unified relationship and cooperate closely to complete the hoisting task. The control process is complicated and the quality of the personnel is strictly required. Using the traditional manual on-duty method to command the hoisting task, the operation efficiency is low and it is easy to be restricted by the visibility conditions, making the operation difficult, time-consuming, labor-intensive, low in intelligence and uneconomical.

Contents of the invention

In view of the above circumstances, the present invention proposes to alleviate or eliminate one or more disadvantages in the prior art, and at least provide a beneficial option.

To achieve the above objectives, the present invention discloses a building construction tower crane, which includes a cross arm, a sling and a hook. station, a monitoring device and a client terminal, wherein the building construction tower crane also includes: a mobile station installed on the cross arm and directly above the hook; an odometer for measuring the mileage of the hanging rope , the mobile station receives the satellite differential correction signal from the reference station, obtains its own position information, and sends the position information to the monitoring device, the odometer acquires the mileage of the suspension rope, and the monitoring The device determines the position of the hook according to the mileage of the suspension rope and the position information of the mobile station. According to the technical solution of the present invention, the process link of the manual on-duty method can be reduced, and the intuitiveness, simplicity, accuracy and efficiency of the hoisting operation can be improved.

Using the above-mentioned system and operation method, some embodiments of the present invention have the following innovations:

1. When the construction tower crane is used for hoisting operations, it is not limited by day or night visibility conditions, and can work around the clock (no visibility required).

2. When the building construction tower crane is hoisting, it can realize precise positioning and lofting (high precision).

3. When the building construction tower crane performs hoisting operations, completing the hoisting task can save time and effort (low consumption).

4. When the building construction tower crane is used for hoisting operations, the operation is simple and intuitive, and the practical value is high (high efficiency).

5. It can avoid damage to the expensive mobile station caused by the collision between the hook and other objects.

6. Because the rover is installed on the boom, the rover can measure without dead ends.

According to the display or prompt of the application service system installed on the monitoring device, the operator of the construction tower crane completes the tasks of precise positioning and setting out of the hoisting, reduces the process links of the manual on-duty method, and improves the intuitiveness, simplicity, and accuracy of the hoisting operation and efficiency.

The fixed-point stakeout auxiliary system for building construction hoisting in some embodiments of the present invention improves the hoisting efficiency of building construction tower cranes, and overcomes difficulties in hoisting operations due to insufficient visibility during the day or at night, complicated operating procedures, time-consuming and labor-intensive operations, and low automation. The problem is that the operation is simple and intuitive, the fixed-point stakeout is accurate, it can save time and effort, and it can work around the clock, which improves the practicability, accuracy, efficiency and economy of the tower crane operation.

Description of drawings

The present invention can be better understood in conjunction with the accompanying drawings. However, the drawings are only exemplary, not limiting the protection scope of the present invention.

Fig. 1 shows the schematic diagram of a kind of tower crane of prior art;

Fig. 2 shows a schematic diagram of a building construction tower crane hoisting fixed-point stakeout auxiliary system according to an embodiment of the present invention;

Fig. 3 shows a schematic diagram of the system structure of a reference station, a rover station and a client terminal according to an embodiment of the present invention;

Fig. 4 shows the schematic diagram of another kind of tower crane;

Figure 5 shows an enlarged schematic view of the boom and the hook of the tower crane of Figure 4; and

Fig. 6 shows a data exchange system according to an embodiment of the present invention.

detailed description

The specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings, but this does not constitute any limitation to the present invention.

The inventors of the present invention found through research that in order to better complete the fixed-point lofting task of tower crane hoisting, it is necessary to know the position of the hook. It is conceivable that this can be realized by placing a positioning device at the position of the hook. However, the hook can be bumped, is often wobbled, is more affected by wind, and in some locations cannot be measured. Therefore, the inventors of the present invention conceived the embodiment of the present invention in order to perform stakeout better.

Fig. 2 shows a schematic diagram of a building construction tower crane hoisting fixed-point stakeout auxiliary system according to an embodiment of the present invention.

As shown in FIG. 2 , according to an embodiment of the present invention, the hoisting fixed-point stakeout auxiliary system for building construction tower cranes includes a reference station 1 , a mobile station 2 , a client terminal 3 , a monitoring device 4 and an odometer 6 . In a preferred embodiment, a data exchange system 8 is also included. The mobile station 2, the monitoring device 4 and the odometer 6 are installed on the tower crane 7. The application service system 5 can be installed on the monitoring device 4, and in one embodiment, the application service system 5 can also be installed on a network server. Depending on the context, a component mounted on the tower crane 7, such as a rover, may be considered a part of the tower crane.

In one embodiment of the present invention, the reference station 1 establishes a connection with the mobile station 2 and the client terminal 3 through the data exchange system 8, and the mobile station 2, the client terminal 3, and the odometer 6 communicate with the monitoring station through the data exchange system 8. The device 4 and the application service system 5 establish a connection.

Fig. 3 shows a schematic diagram of the system structure of a reference station, a rover station and a client terminal according to an embodiment of the present invention. As shown in Figure 3, according to an embodiment of the present invention, the reference station 1, the mobile station 2 and the client terminal 3 are all GNSS satellite signal receiving devices, and respectively include a geodesic satellite positioning module connected and packaged with the core control module 18 11. Antenna module 12 , storage module 13 , power supply module 14 , communication module 15 , data exchange module 16 and data calculation module 17 . This embodiment is schematic, and those skilled in the art can adopt any method to realize these modules, and also can adopt different composition modes to realize the reference station 1, the rover station 2 and the client terminal 3 of the present invention, which are all described in the present invention within the scope of protection.

The reference station 1 is set up at a known coordinate point with a relatively wide field of view near the construction project. There can be one or more reference stations. The reference station 1 can generate GNSS satellite differential correction signals. The satellite differential correction signals can be transmitted through single reference station RTK or multiple reference stations. The network RTK (CORS) system is broadcast to the rover 2 and the client terminal 3 by the data exchange system 8 . According to an embodiment of the present invention, it can also be sent directly to the mobile station 2, the client terminal 3 and the client terminal 9.

In one embodiment, the mobile station 2 can be installed on the cross arm (or boom) of the tower crane 7, directly above the hook. For example, in the case of the tower crane shown in FIG. 1 , the mobile station 2 can be installed directly above the pulley 9 of the cross arm. In the present invention, according to the context, on a small-scale plane directly above the hook, the point that can be obtained by simple conversion of the plane and elevation position directly above the hook can also be regarded as being located directly above the hook.

The mobile station 2 uses the differential correction signal from the reference station 1 to calculate the elevation position and plane position of its own antenna module 12, and the plane and elevation positions of the antenna module 12 of the mobile station 2 are broadcast to the monitoring device 4 via the data exchange system 8 , the monitoring device 4 determines the plane position of the antenna module 12 of the mobile station 2 as the plane position of the hoisting fixed-point stakeout.

In one embodiment, the rover 2 uses the differential correction signal and the distance from the tower crane to a reference station to calculate the elevation position and plane position of its own antenna module 12 . In one embodiment, first obtain the coordinates of the rover station under the tower crane system according to the following formula:

in, and are the coordinates of the rover under the tower crane system and the WGS-84 system; T _X , T _Y , _{T Z} are the translation parameters converted from the _{WGS -} 84 system to the tower crane system; 84 system is converted to the rotation parameter of the tower crane system; m is the scale parameter converted from the WGS-84 system to the tower crane system.

Then, the tower crane system coordinates of the mobile station Coordinate transformation is performed under Gaussian projection to obtain the plane position (x, y) and elevation position H of the rover.

According to one embodiment of the present invention, the odometer 6 is installed on a certain static pulley for retracting and retracting the suspension rope of the tower crane 7 , for example, in the case of FIG. 1 , it can be installed at the pulley 9 . The odometer 6 is used to measure the retraction and release length of the suspension rope with high precision (called the mileage data of the suspension rope), so that the lifting and lowering of the hook can be calculated by itself, and broadcast to the monitoring device 4 via the data exchange system 8 . In one embodiment, the odometer 6 can only measure the retracted and extended length of the suspension rope, and send the length to the monitoring device 4 . The monitoring device 4 uses the elevation position of the antenna module 12 of the mobile station 2 and the data sent by the odometer 6 to determine the elevation position of the hoisting fixed-point stakeout.

The elevation position of the hoisting fixed-point stakeout can be determined by simply performing addition and subtraction calculations based on the mileage of the odometer 12 and the elevation of the mobile station.

More precisely, the following formula can be used for calculation, in which information such as the speed of the hook of the tower crane is used.

${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; -</span>\sqrt{\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&rsqb;</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}$

Wherein, H _g represents the elevation of the hook, H ₁ is the elevation of the antenna phase center of the rover, H ₂ is the vertical height from the antenna phase center of the rover to the bottom of the antenna, and H ₃ is the vertical height of the antenna on the cross arm. The height of the mobile car, L is the retractable mileage of the suspension rope measured by the odometer, V ₁ is the tangential velocity of the mobile car on the cross arm, V ₂ is the wind speed, a is the acceleration of the wind, H ₄ is the vertical distance between the movable pulley and the hook.

Fig. 4 shows a schematic diagram of another tower crane. The tower crane includes a fixing device 21 , a column 22 , a cross arm 23 , a mobile vehicle 24 , and a boom movable pulley 25 . FIG. 5 shows an enlarged schematic view of the boom 25 and the hook. For the situation shown in FIGS. 4 and 5 , the odometer can be placed at the movable pulley 25 . In a preferred embodiment, the odometer 6 can be placed at a pulley that is closer to the hook and is used for retracting the suspension rope. In the case of the tower crane shown in FIG. 4 , the mobile station 2 can be placed on a mobile vehicle 24 . The case where the rover is placed on a part arranged on the cross arm (or boom) 23 is also referred to as being arranged on this cross arm or boom.

In one embodiment, the mobile station or monitoring device calculates the translation parameter error according to the distance from a certain reference station to the tower crane as follows, so as to obtain its own plane position and elevation position:

$\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}\end{array}\right]$

Among them, dx1, dy1, and dz1 represent the translation parameter error at the rover, B, L represent the geodetic latitude and longitude at the base station, d _H represents the geodetic height error at the base station, and b represents the plane horizontal axis between the base station and the rover Distance, l represents the plane longitudinal axis distance between the base station and the rover station. The method of obtaining the position of the rover according to the translation parameter error can be performed by various methods known in the art or later known, and will not be repeated here. With this method, the known position relationship between the reference station and the rover is effectively used, and the position of the rover can be determined more accurately.

To accurately determine l and b above, the position of the rover on the boom can be measured by sensors.

The client terminal 3 is held by a fixed-point hoist or a stakeout hoist to determine the sampling and stakeout locations. The client terminal 3 can receive the GNSS satellite differential correction signal through the data exchange system 8 or directly from the reference station, and after completing the differential calculation, broadcast the hoisting and stakeout precise position and instruction information to the monitoring device 4 via the data exchange system 8 .

In one embodiment, the monitoring device 4 is installed in the control room of the tower crane to assist the operator of the tower crane in hoisting operations. Computers or smart phones, etc., receive the position, lift and command information broadcast by the mobile station 2, the client terminal 3 and the odometer 6 through the data exchange system 8, and determine the hoisting fixed-point stakeout plane position and sampling location, the location and distance of the stakeout location, etc. .

According to this embodiment of the present invention, the hoisting operation efficiency of the building construction tower crane can be improved, and problems such as the difficulty of daytime or nighttime visibility can be overcome. . Moreover, the positioning device is not installed on the hook, so the cost can be reduced.

FIG. 6 shows a data exchange system 8 according to an embodiment of the invention. As shown in FIG. 6 , the data exchange system 8 includes a data exchange module 31 , a storage module 32 , a data processing module 33 and a communication module 34 . The communication module 34 can be a UHF radio, WIFI, GPRS, Bluetooth communication module.

A fixed-point stakeout system based on building construction tower crane hoisting according to the present invention can be operated as follows: before hoisting, set up a reference station on a relatively wide known coordinate point near the construction project, input the coordinates of the reference station into the application service system, and automatically generate a hoisting The fixed-point stakeout monitoring map is configured by the corrected seven parameters (or 3-parameter configuration according to the situation) and starts the mobile station and the client terminal; when hoisting, the hoisting operator broadcasts the hoisting fixed point, stakeout position and command information to the monitoring device, According to the display or prompt of the monitoring device, the operator completes the precise positioning and stakeout of the hoisting operation. After the hoisting operation is completed, the hoisting operation procedure ends, and all the hoisting operation data is stored in the application service system, and the fixed-point stakeout trajectory of the hoisting operation is automatically generated.

The specific implementation of this system refers to the following situations: 1. Set up one or more reference stations at known coordinate positions with a relatively wide field of vision near the construction project; Install the mobile station; 3. Install data communication software on the mobile station and client terminal; 4. Place the data exchange system at a suitable location on the construction site, which can be placed near the office, tower crane or reference station, and the data exchange system can also complete the LAN server Function; 5. Start the base station, mobile station, etc., and check the data connection between each component is correct. 6. Take three or more known coordinate points, place the hand-held client terminal on the known points, perform point correction to calculate the seven parameters, and correct the correctness of the system. 7. The monitoring device receives the hoisting fixed point and stakeout coordinate information of the handheld client terminal. 8. Start the tower crane, align with the fixed-point position for hoisting according to the fixed-point position determined by the monitoring device, start the hoisting operation, and then align it with the setting-out position for hoisting, implement the hoisting task, and end the hoisting operation procedure.

The patent reduces the process link of the manual on-duty method, and improves the intuition, simplicity, accuracy and efficiency of the hoisting operation. The patented building construction tower crane hoisting and fixed-point stakeout auxiliary system improves the efficiency of building construction tower crane hoisting operations, overcomes the difficulty of daytime or night vision, and is easy and intuitive to operate, can work around the clock, and is accurate in fixed-point stakeout. high value.

The present invention systematically provides a scientific, simple, high-precision, all-weather, no-line-of-sight, intelligent building construction tower crane hoisting fixed-point stakeout auxiliary system, which is suitable for installation on tower crane equipment of various brands, and is an auxiliary system for tower cranes in During the hoisting operation, the fixed-point lofting operation of the hoisting task can be completed quickly, accurately and efficiently, and the efficiency, simplicity and accuracy of the equipment can be improved.

The above detailed description of the present invention is only for those skilled in the art to further believe the content for implementing the preferred aspects of the present invention, and does not limit the scope of the present invention. Only the claims are used to determine the scope of the invention. Therefore, combinations of features and steps in the foregoing detailed description are not necessarily required to practice the invention in the broadest scope, and are instead taught only to specifically described representative embodiments of the invention. Furthermore, the various features taught in the specification may be combined in ways not specifically enumerated, in order to obtain additional useful embodiments of the invention.

Claims (8)

1. A building construction tower crane, comprising a cross arm, a sling and a hook, the building construction tower crane cooperates with a lifting fixed-point stakeout auxiliary system, and the lifting fixed-point stakeout auxiliary system includes a reference station, a monitoring device and a client terminal , it is characterized in that, the building construction tower crane also includes: a mobile station installed on the cross arm and directly above the hook; an odometer for measuring the mileage of the suspension rope, and the mobile station Receive the satellite differential correction signal from the reference station, obtain its own position information, and send the position information to the monitoring device, the odometer obtains the mileage of the hanging rope, and the monitoring device according to the The mileage of the rope and the position information of the rover determine the position of the hook. 2. The building construction tower crane according to claim 1, wherein the odometer is mounted on a movable pulley or a static pulley for retracting and retracting the sling, and the mobile station is mounted on the cross arm on a mobile cart for sliding the hook along the cross arm. 3. The building construction tower crane according to claim 2, characterized in that, the building construction tower crane comprises a movable pulley positioned above the hook, and the monitoring device regards the plane position of the mobile station as the The plane position of the hook, the monitoring device calculates the elevation of the hook according to the following formula: ${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; -</span>\sqrt{\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&rsqb;</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}$ Wherein, H _g represents the elevation of the hook, H ₁ is the elevation of the antenna phase center of the rover, H ₂ is the vertical height from the antenna phase center of the rover to the bottom of the antenna, and H ₃ is the vertical height of the antenna on the cross arm. The height of the mobile car, L is the retractable mileage of the suspension rope measured by the odometer, V ₁ is the tangential velocity of the mobile car on the cross arm, V ₂ is the wind speed, a is the acceleration of the wind, H ₄ is the vertical distance between the movable pulley and the hook. 4. The building construction tower crane according to claim 3, wherein the mobile station obtains its plane position and elevation position as follows: First, obtain the coordinates of the rover station under the tower crane system according to the following formula: in, and are the coordinates of the rover under the tower crane system and the WGS-84 system; T _X , T _Y , _{T Z} are the translation parameters converted from the _{WGS -} 84 system to the tower crane system; 84 series is converted to the rotation parameter of the tower crane system; m is the scale parameter converted from the WGS-84 system to the tower crane system; Then, the tower crane system coordinates of the mobile station Coordinate transformation is performed under Gaussian projection to obtain the plane position (x, y) and elevation position H of the rover. 5. The building construction tower crane according to claim 4, wherein the mobile station calculates the translation parameter error according to the difference correction signal from the reference station and the distance from the reference station to the tower crane as follows , so as to obtain its own plane position and elevation position: $\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}\end{array}\right]$ Among them, dx1, dy1, and dz1 represent the translation parameter error at the rover, B, L represent the geodetic latitude and longitude at the base station, d _H represents the geodetic height error at the base station, and b represents the plane horizontal axis between the base station and the rover Distance, l represents the plane longitudinal axis distance between the reference station and the mobile station, the distance obtained by measuring the distance between the tower crane and the reference station and the position of the mobile station on the boom of the tower crane b and the l. 6. An auxiliary system for hoisting and fixed-point stakeout for a building construction tower crane, including a reference station, a monitoring device and a client terminal, the building construction tower crane includes a cross arm, a sling and a hook, and it is characterized in that the lifting fixed-point stakeout The auxiliary system also includes: a rover station installed on the cross arm directly above the hook; an odometer for detecting the mileage of the suspension rope, and the rover station receives satellite differential corrections from the reference station signal, obtain its own position information, and send the position information to the monitoring device, the odometer obtains the mileage of the suspension rope, and the monitoring device according to the mileage of the suspension rope and the mobile station Position information to determine the position of the hook. 7. The building construction tower crane hoisting fixed-point stakeout auxiliary system according to claim 6, characterized in that, said reference station (1) is set up at a known coordinate point with a relatively wide field of vision near the construction project, and broadcasts GNSS satellite differential corrections Signal, using a single base station RTK or multi-base station network RTK system, the client terminal (3) is held by the fixed-point hoisting staff and the stakeout hoisting staff, and the monitoring device (4) is installed in the control room of the tower crane , the building construction tower crane hoisting fixed-point stakeout auxiliary system also includes a data exchange system (8), and the data exchange system (8) is provided with a data exchange module (31), a storage module (32), a data processing module (33 ) and communication module (34), described communication module (34) is any one in UHF radio station, WIFI, GPRS, bluetooth communication module, and wherein said monitoring device is also used for generating the fixed-point stakeout monitoring map of hoisting, and according to said The position of the hook determines the fixed-point lofting track of the hoisting operation. 8. The building construction tower crane hoisting fixed-point stakeout auxiliary system according to claim 7, wherein: The odometer is installed on the moving pulley or the static pulley for retracting the suspension rope, and the mobile station is installed on the mobile vehicle on the cross arm for sliding the hook along the cross arm; The building construction tower crane includes a movable pulley located above the hook, and the monitoring device calculates the position of the hook according to the following formula: ${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; g</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; -</span>\sqrt{\frac{{\mathrm{<span\; class="notranslate">\; L</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&rsqb;</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}$ Wherein, H _g represents the elevation of the hook, H ₁ is the elevation of the antenna phase center of the rover, H ₂ is the vertical height from the antenna phase center of the rover to the bottom of the antenna, and H ₃ is the vertical height of the antenna on the cross arm. The height of the mobile car, L is the retractable mileage of the suspension rope measured by the odometer, V ₁ is the tangential velocity of the mobile car on the cross arm, V ₂ is the wind speed, a is the acceleration of the wind, H ₄ is the vertical distance between the movable pulley and the hook, The mobile station obtains its own plane position and elevation position as follows: First, obtain the coordinates of the rover station under the tower crane system according to the following formula: in, and are the coordinates of the rover under the tower crane system and the WGS-84 system; T _X , T _Y , _{T Z} are the translation parameters converted from the _{WGS -} 84 system to the tower crane system; 84 series is converted to the rotation parameter of the tower crane system; m is the scale parameter converted from the WGS-84 system to the tower crane system; Then, the tower crane system coordinates of the mobile station Carry out coordinate conversion under Gaussian projection, obtain the plane position (x, y) and elevation position H of described mobile station; The mobile station calculates the translation parameter error as follows according to the differential correction signal from the reference station and the distance from the reference station to the tower crane, thereby obtaining its own plane position and elevation position: $\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}\end{array}\right]$ Among them, dx1, dy1, and dz1 represent the translation parameter error at the rover, B, L represent the geodetic latitude and longitude at the base station, d _H represents the geodetic height error at the base station, and b represents the plane horizontal axis between the base station and the rover Distance, l represents the plane longitudinal axis distance between the reference station and the mobile station, the distance obtained by measuring the distance between the tower crane and the reference station and the position of the mobile station on the boom of the tower crane b and the l.