CN209821396U - Industrial vehicle high accuracy locater - Google Patents
Industrial vehicle high accuracy locater Download PDFInfo
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- CN209821396U CN209821396U CN201920259874.7U CN201920259874U CN209821396U CN 209821396 U CN209821396 U CN 209821396U CN 201920259874 U CN201920259874 U CN 201920259874U CN 209821396 U CN209821396 U CN 209821396U
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Abstract
The utility model discloses an industrial vehicle high-precision positioning instrument, which comprises an embedded processor, an RTK high-precision positioning module, a GPS positioning module, a wireless communication transmission module, an EMMC data memory and a power module, wherein the embedded processor, the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power module are hermetically arranged in a metal shell; the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power supply module are all connected with the embedded processor. This industry vehicle high accuracy locater of money can eliminate the influence that all kinds of system errors brought according to information such as satellite orbit, ionosphere situation, and supplementary satellite positioning reaches higher accuracy, can provide the high accuracy position service of real-time meter level to centimeter level, the static millimeter level of aftertreatment.
Description
Technical Field
The utility model belongs to the technical field of the industrial vehicle, concretely relates to industrial vehicle high accuracy locater.
Background
In the field of industrial vehicles, special scenes such as forklift operation partition monitoring, adaptive speed switching, safety risk prevention of getting on and off the forklift and dynamic vehicle scheduling require that a forklift positioning system needs to meet the accuracy requirement of a higher level than the existing positioning scheme. In the traditional GNSS positioning mode commonly adopted in the industry at present, the error of the positioning mode is over 2 meters generally, and the error can be further increased under the conditions of receiving atmospheric layer, satellite orbit error, satellite error and multipath effect.
Industrial vehicles tend to engage in more high frequency and efficient work in an industrial setting. Therefore, its positioning system needs to handle complex industrial scenarios and to meet industrial-level accuracy requirements. The conventional GNSS positioning still has a large error after the trajectory correction processing. Industrial vehicle products with positioning functions in the market are common, and currently, a GPS has a certain degree of positioning deviation in actual use, and cannot directly meet centimeter-level positioning requirements of automatic driving.
SUMMERY OF THE UTILITY MODEL
Not enough to the above-mentioned among the prior art, the utility model provides an industrial vehicle high accuracy locater has solved the not accurate problem inadequately of current locater location.
In order to achieve the purpose of the invention, the utility model adopts the technical scheme that: a high-precision locator for industrial vehicles comprises an embedded processor, an RTK high-precision positioning module, a GPS positioning module, a wireless communication transmission module, an EMMC data memory and a power supply module, wherein the embedded processor, the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power supply module are hermetically arranged in a metal shell;
the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power supply module are all connected with the embedded processor;
the metal shell is provided with a reset key, a communication line interface, a work indicator lamp and a vehicle machine fixing hole;
the reset key and the work indicator light are both connected with the embedded processor, and the communication line interface is respectively connected with the GPS positioning module, the EMMC data memory and the power supply module.
Furthermore, the communication line interface comprises a GPS positioning antenna interface, a data transmission line interface and a power line interface;
the GPS positioning module is connected with the GPS positioning antenna through a GPS positioning antenna interface;
the EMMC data memory is connected with the data transmission line through a data transmission interface;
the power module is connected with a power line through a power interface, and the power line is connected with a vehicle-mounted power supply.
Further, the GPS positioning module comprises a GPS antenna end and a GPS receiver which are connected with each other;
the GPS antenna end comprises a preamplifier and a frequency converter which are connected with each other, and the input end of the preamplifier is connected with the GPS positioning antenna;
the GPS receiver comprises a frequency synthesizer, a standard frequency device, a memory, a signal channel and a microprocessor; the input end of the frequency synthesizer is respectively connected with the output end of the frequency converter and the output end of the standard frequency device, the output end of the frequency synthesizer is connected with a signal channel, the signal channel is also respectively connected with a memory and a microprocessor, and the microprocessor is also respectively connected with the memory and the input end of the embedded processor.
Further, the signal channels are 1-12 signal channels.
Further, the power supply module comprises a primary voltage conversion unit, a secondary voltage conversion unit and a tertiary voltage conversion unit; the secondary voltage conversion unit is respectively connected with the primary voltage conversion unit and the tertiary voltage conversion unit, the primary voltage conversion unit is connected with the vehicle-mounted power supply through a power line, and the tertiary voltage conversion unit is connected with the main control module;
the secondary voltage conversion unit comprises a voltage reduction circuit, a charging protection circuit and a power supply switching circuit, the voltage reduction circuit and the charging protection circuit are both connected with the primary voltage conversion unit, the charging protection circuit is also connected with the power supply switching circuit, and a standby power supply is connected between the charging protection circuit and the power supply switching circuit.
Further, the three-level voltage conversion unit is a low dropout linear regulator.
The primary voltage conversion circuit is a DC/DC converter.
Further, the voltage reduction circuit is a diode D1;
the charging protection circuit comprises a chip U1 with the model number of CH 4054;
the power supply switching circuit comprises a field effect transistor Q1;
the positive electrode of the diode D1 and the first pin of the chip U1 are connected with the output end of the primary voltage conversion unit, the first pin of the chip U1 is further connected with a grounded capacitor C1, the second pin of the chip U1 is connected with a grounded resistor R1, the third pin of the chip U1 is connected with the source electrode of the field-effect tube Q1, the fourth pin of the chip U1 is connected with the gate of the field-effect tube Q1 through a resistor R3, the fourth pin of the chip U1 is grounded, the fifth pin of the chip U1 is connected with the negative electrode of the light-emitting diode LED, the positive electrode of the light-emitting diode LED is connected with the gate of the field-effect tube Q1 and the positive electrode of the diode D1 through a resistor R2, and the drain of the field-effect tube Q1 and the negative electrode of the diode D1 are connected with the tertiary voltage conversion unit.
Further, the standby power supply is a rechargeable lithium battery;
the anode of the rechargeable lithium battery is connected with the source electrode of the field effect transistor Q1;
and the negative electrode of the rechargeable lithium battery is connected with the fourth pin of the chip U1.
Further, the model of the embedded processor is ARM7 EJ-S;
the type of the microprocessor is S3C 2440;
the model of the RTK high-precision positioning module is SKG12 UR;
the model of the wireless communication transmission module is SIM 868.
The utility model has the advantages that: the high-precision positioning capability of the industrial vehicle high-precision positioning instrument is mainly established on the basis of 'internet + position (Beidou)', and a position cloud platform is constructed through integration and construction of a Beidou foundation enhancement system and a net to provide services. This industry vehicle high accuracy locater of money can eliminate the influence that all kinds of system errors brought according to information such as satellite orbit, ionosphere situation, and supplementary satellite positioning reaches higher accuracy, can provide the high accuracy position service of real-time meter level to centimeter level, the static millimeter level of aftertreatment.
Drawings
Fig. 1 is the utility model provides a high accuracy locater structure chart of industrial vehicle.
Fig. 2 is the utility model provides a GPS positioning module structure chart.
Fig. 3 is a structure diagram of the power module of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes will be apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all inventions contemplated by the present invention are protected.
As shown in fig. 1, the industrial vehicle high-precision positioning instrument comprises an embedded processor, an RTK high-precision positioning module, a GPS positioning module, a wireless communication transmission module, an EMMC data memory and a power supply module, which are hermetically arranged in a metal shell;
the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power supply module are all connected with the embedded processor;
the metal shell is provided with a reset key, a communication line interface, a work indicator lamp and a vehicle machine fixing hole;
the reset key and the work indicator light are both connected with the embedded processor, and the communication line interface is respectively connected with the GPS positioning module, the EMMC data memory and the power supply module.
The communication line interface comprises a GPS positioning antenna interface, a data transmission line interface and a power line interface;
the GPS positioning module is connected with the GPS positioning antenna through a GPS positioning antenna interface;
the EMMC data memory is connected with the data transmission line through a data transmission interface;
the power module is connected with a power line through a power interface, and the power line is connected with a vehicle-mounted power supply.
As shown in fig. 2, the GPS positioning module includes a GPS antenna end and a GPS receiver connected to each other; the GPS antenna end comprises a preamplifier and a frequency converter which are connected with each other, and the input end of the preamplifier is connected with the GPS positioning antenna; the GPS receiver comprises a frequency synthesizer, a standard frequency device, a memory, a signal channel and a microprocessor; the input end of the frequency synthesizer is respectively connected with the output end of the frequency converter and the output end of the standard frequency device, the output end of the frequency synthesizer is connected with the signal channel, the signal channel is also respectively connected with the memory and the microprocessor, and the microprocessor is also respectively connected with the memory and the input end of the embedded processor. The signal channels are 1-12 signal channels, each signal channel can receive one FPS satellite, if 12 channels exist, the receiver can simultaneously receive 12 GPS satellites, the telegraph text output by the current GPS receiver is basically 0183 or 1000 telegraph text formats, the content of the telegraph text output by the current GPS receiver is typically GPGGA, GPRMC and GPGSA, and the three pieces of information comprise satellite ephemeris, clock correction, satellite star number, satellite working state, longitude and latitude information and the like.
As shown in fig. 3, the power module includes a primary voltage converting unit, a secondary voltage converting unit, and a tertiary voltage converting unit; the secondary voltage conversion unit is respectively connected with the primary voltage conversion unit and the tertiary voltage conversion unit, the primary voltage conversion unit is connected with the vehicle-mounted power supply through a power line, and the tertiary voltage conversion unit is connected with the main control module;
the secondary voltage conversion unit comprises a voltage reduction circuit, a charging protection circuit and a power supply switching circuit, the voltage reduction circuit and the charging protection circuit are both connected with the primary voltage conversion unit, the charging protection circuit is also connected with the power supply switching circuit, and a standby power supply is connected between the charging protection circuit and the power supply switching circuit.
The first-stage voltage conversion circuit is a DC/DC converter, and the third-stage voltage conversion unit is a low-dropout linear regulator.
The voltage reduction circuit is a diode D1;
the charging protection circuit comprises a chip U1 with the model number CH 4054;
the power supply switching circuit comprises a field effect transistor Q1;
the anode of the diode D1 and the first pin of the chip U1 are both connected to the output end of the primary voltage conversion unit, the first pin of the chip U1 is further connected to a grounded capacitor C1, the second pin of the chip U1 is connected to a grounded resistor R1, the third pin of the chip U1 is connected to the source of the field-effect transistor Q1, the fourth pin of the chip U1 is connected to the gate of the field-effect transistor Q1 through a resistor R3, the fourth pin of the chip U1 is also grounded, the fifth pin of the chip U1 is connected to the cathode of the light-emitting diode LED, the anode of the light-emitting diode LED is connected to the gate of the field-effect transistor Q1 and the anode of the diode D1 through a resistor R2, and the drain of the field-effect transistor Q1 and the cathode of the diode D1 are both connected to the tertiary voltage conversion unit.
The standby power supply is a rechargeable lithium battery; the anode of the rechargeable lithium battery is connected with the source electrode of the field effect transistor Q1; the negative electrode of the rechargeable lithium battery is connected with the fourth pin of the chip U1.
In the utility model, the model of the embedded processor is ARM7 EJ-S;
the model of the microprocessor is S3C 2440;
the model of the RTK high-precision positioning module is SKG12 UR;
the wireless communication transmission module is of the type SIM 868.
The utility model discloses in, industrial vehicle high accuracy locater passes through screw, sticky tape and magnetism and inhales multiple optional modes such as formula and fixes, and compatible mainstream industrial vehicle data interface such as data transmission line and power cord can not change the electrical structure and the wiring of vehicle itself, guarantees can not produce the vehicle potential safety hazard because of the installation at terminal. The GPS positioning antenna is far away from other sensitive electronic equipment, and normal receiving and transmission of signals are ensured.
The utility model provides a TRK high accuracy orientation module has fused big dipper high accuracy satellite positioning and inertial navigation technique, for complicated urban environment provides the combination navigation, is applicable to various form industrial vehicles, shelters from at the overhead, tunnel, urban canyon etc. if the satellite covers the scene still can provide continuous reliable high accuracy positioning result. The RTK high-precision positioning module is based on an RTK Real-Time dynamic differential technology, a conventional GPS measurement method, such as static, rapid static and dynamic measurement, needs to be solved afterwards to obtain centimeter-level precision, the RTK is a measurement method capable of obtaining centimeter-level positioning precision in Real Time in the field, a carrier phase dynamic Real-Time differential (Real-Time Kinematic Real-Time dynamic differential) method is adopted, the RTK high-precision positioning module is a major milestone for GPS application, the occurrence of the RTK high-precision positioning module is project lofting and terrain mapping, new eosin is brought to various control measurements, and the field operation efficiency is greatly improved.
The high-precision GPS measurement must adopt a carrier phase observation value, and the RTK positioning technology is a real-time dynamic positioning technology based on the carrier phase observation value, can provide a three-dimensional positioning result of a measuring station in a specified coordinate system in real time and reaches centimeter-level precision. In the RTK mode of operation, the base station transmits its observations to the rover station along with the coordinate information of the rover station via the data chain. The rover station not only receives data from the reference station through a data chain, but also acquires GPS observation data, forms differential observation values in the system for real-time processing, and simultaneously gives centimeter-level positioning results for less than one second. The rover can be in a static state and a moving state; the dynamic operation can be started after the initialization is carried out on the fixed point, the direct start-up can also be carried out under the dynamic condition, and the search and solution of the ambiguity can be completed under the dynamic environment. After the last known number is fixed in the whole week, each epoch can be processed in real time, and the rover can give centimeter-level positioning results at any time as long as the tracking and necessary geometric figures of more than four satellite phase observed values can be kept. The key of the RTK technology is a data processing technology and a data transmission technology, and when positioning the RTK, a base station receiver is required to transmit observed data (pseudo-range observed values and phase observed values) and known data to a rover receiver in real time, the data size is large, and a baud rate of 9600 is generally required, which is not difficult to realize on radio.
In an embodiment of the present invention, a work flow of an industrial vehicle high-precision position indicator is provided: the industrial vehicle positioning device is powered by a vehicle-mounted power supply of an industrial vehicle, after the industrial vehicle positioning device is powered on and started, an RTK high-precision positioning module collects vehicle position data information (the positioning device can provide positioning state information such as real-time, precision and dimensionality, and the minimum reporting time interval is not more than 1s in a normal operation state), an embedded processor acquires data and transmits the data to a cloud platform through a wireless communication transmission module (supporting a communication mode based on various wireless communication networks such as general GSM, CDMA, TD-SCDMA, WCDMA and CDMA2000 and a Beidou satellite navigation system transmission mechanism), a cloud server filters and analyzes the data, and a final result is displayed to a manager through a management background, so that accurate position information is provided for the manager.
This locater is when the outage condition, switches power supply through power supply switching circuit, supplies power for it through its inside stand-by power supply, when the locator loses the main power supply, still can keep time synchronization, by real-time clock and GPS orientation module, wireless communication transmission module carries out the time proofreading, guarantees that the locating data information is synchronous. This locater is under the disconnected net condition, and industrial vehicle positioning data can be kept in EMMC data storage module temporarily, and automatic long pass to the cloud platform after the networking.
The utility model provides an industrial vehicle high accuracy locater can install on high-order fork truck, at the in-process of high-order fork truck motion, through RTK high accuracy positioning module record orbit of traveling, judges whether this vehicle goes according to the appointed route according to the orbit of traveling to the goods shelves are berthhed to the accuracy and accomplish the loading and unloading goods action, and real time monitoring driver is irregular in the course of the work, dangerous operation. Through the application of the high-precision positioning technology, a complete solution for reducing safety risks and optimizing logistics operation is provided for industrial vehicle users.
The utility model has the advantages that: the high-precision positioning capability of the industrial vehicle high-precision positioning instrument is mainly established on the basis of 'internet + position (Beidou)', and a position cloud platform is constructed through integration and construction of a Beidou foundation enhancement system and a net to provide services. This industry vehicle high accuracy locater of money can eliminate the influence that all kinds of system errors brought according to information such as satellite orbit, ionosphere situation, and supplementary satellite positioning reaches higher accuracy, can provide the high accuracy position service of real-time meter level to centimeter level, the static millimeter level of aftertreatment.
Claims (9)
1. The industrial vehicle high-precision positioning instrument is characterized by comprising an embedded processor, an RTK high-precision positioning module, a GPS positioning module, a wireless communication transmission module, an EMMC data memory and a power supply module, wherein the embedded processor, the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power supply module are hermetically arranged in a metal shell;
the RTK high-precision positioning module, the GPS positioning module, the wireless communication transmission module, the EMMC data memory and the power supply module are all connected with the embedded processor;
the metal shell is provided with a reset key, a communication line interface, a work indicator lamp and a vehicle machine fixing hole;
the reset key and the work indicator light are both connected with the embedded processor, and the communication line interface is respectively connected with the GPS positioning module, the EMMC data memory and the power supply module.
2. The industrial vehicle high accuracy positioning instrument according to claim 1, wherein the communication line interface comprises a GPS positioning antenna interface, a data transmission line interface and a power line interface;
the GPS positioning module is connected with the GPS positioning antenna through a GPS positioning antenna interface;
the EMMC data memory is connected with the data transmission line through a data transmission interface;
the power module is connected with a power line through a power interface, and the power line is connected with a vehicle-mounted power supply.
3. The industrial vehicle high accuracy position indicator according to claim 1, wherein the GPS positioning module comprises a GPS antenna end and a GPS receiver connected to each other;
the GPS antenna end comprises a preamplifier and a frequency converter which are connected with each other, and the input end of the preamplifier is connected with the GPS positioning antenna;
the GPS receiver comprises a frequency synthesizer, a standard frequency device, a memory, a signal channel and a microprocessor; the input end of the frequency synthesizer is respectively connected with the output end of the frequency converter and the output end of the standard frequency device, the output end of the frequency synthesizer is connected with a signal channel, the signal channel is also respectively connected with a memory and a microprocessor, and the microprocessor is also respectively connected with the memory and the input end of the embedded processor.
4. The industrial vehicle hi-fix tool of claim 3, wherein the signal path is 1-12 signal paths.
5. The industrial vehicle high precision positioning instrument according to claim 2, wherein the power supply module comprises a primary voltage conversion unit, a secondary voltage conversion unit and a tertiary voltage conversion unit; the secondary voltage conversion unit is respectively connected with the primary voltage conversion unit and the tertiary voltage conversion unit, the primary voltage conversion unit is connected with the vehicle-mounted power supply through a power line, and the tertiary voltage conversion unit is connected with the main control module;
the secondary voltage conversion unit comprises a voltage reduction circuit, a charging protection circuit and a power supply switching circuit, the voltage reduction circuit and the charging protection circuit are both connected with the primary voltage conversion unit, the charging protection circuit is also connected with the power supply switching circuit, and a standby power supply is connected between the charging protection circuit and the power supply switching circuit.
6. The industrial vehicle high precision positioning instrument according to claim 5, wherein the primary voltage conversion circuit is a DC/DC converter;
the three-stage voltage conversion unit is a low-dropout linear regulator.
7. The industrial vehicle high precision positioning instrument according to claim 5, wherein the voltage reduction circuit is a diode D1;
the charging protection circuit comprises a chip U1 with the model number of CH 4054;
the power supply switching circuit comprises a field effect transistor Q1;
the positive electrode of the diode D1 and the first pin of the chip U1 are connected with the output end of the primary voltage conversion unit, the first pin of the chip U1 is further connected with a grounded capacitor C1, the second pin of the chip U1 is connected with a grounded resistor R1, the third pin of the chip U1 is connected with the source electrode of the field-effect tube Q1, the fourth pin of the chip U1 is connected with the gate of the field-effect tube Q1 through a resistor R3, the fourth pin of the chip U1 is grounded, the fifth pin of the chip U1 is connected with the negative electrode of the light-emitting diode LED, the positive electrode of the light-emitting diode LED is connected with the gate of the field-effect tube Q1 and the positive electrode of the diode D1 through a resistor R2, and the drain of the field-effect tube Q1 and the negative electrode of the diode D1 are connected with the tertiary voltage conversion unit.
8. The industrial vehicle high precision positioning instrument according to claim 7, wherein the backup power supply is a rechargeable lithium battery;
the anode of the rechargeable lithium battery is connected with the source electrode of the field effect transistor Q1;
and the negative electrode of the rechargeable lithium battery is connected with the fourth pin of the chip U1.
9. The industrial vehicle hi-fix tool of claim 3, wherein the embedded processor is model number ARM7 EJ-S;
the type of the microprocessor is S3C 2440;
the model of the RTK high-precision positioning module is SKG12 UR;
the model of the wireless communication transmission module is SIM 868.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920259874.7U CN209821396U (en) | 2019-02-28 | 2019-02-28 | Industrial vehicle high accuracy locater |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920259874.7U CN209821396U (en) | 2019-02-28 | 2019-02-28 | Industrial vehicle high accuracy locater |
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| Publication Number | Publication Date |
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| CN209821396U true CN209821396U (en) | 2019-12-20 |
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| CN201920259874.7U Active CN209821396U (en) | 2019-02-28 | 2019-02-28 | Industrial vehicle high accuracy locater |
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- 2019-02-28 CN CN201920259874.7U patent/CN209821396U/en active Active
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