CN101746676A - Deviation-preventing controller for tyre crane - Google Patents
Deviation-preventing controller for tyre crane Download PDFInfo
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- CN101746676A CN101746676A CN200910243702A CN200910243702A CN101746676A CN 101746676 A CN101746676 A CN 101746676A CN 200910243702 A CN200910243702 A CN 200910243702A CN 200910243702 A CN200910243702 A CN 200910243702A CN 101746676 A CN101746676 A CN 101746676A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a deviation-preventing controller for a tyre crane, comprising a first GNSS receiver and a second GNSS receiver, an embedded processor and a PLC; wherein the antenna of the first GNSS receiver and the second GNSS receiver are installed at a power supply room side or a power room side of a RTG cart for respectively outputting first GNSS information and second GNSS information, the embedded processor is used for calculating first horizontal distance and second horizontal distance the first GNSS receiver and the second GNSS receiver deviate from a track datum line according to the first GNSS information and the second GNSS information, the PLC is used for adjusting proceeding direction of the RTG cart according to the first horizontal distance and the second horizontal distance. With the deviation-preventing controller adopted, automatic deviation correction can be carried out on proceeding path of the cart, so that labor intensity of cart drivers can be greatly reduced, wharf working efficiency is improved and the number of collision accidents is also reduced.
Description
Technical field
The present invention relates to container wharf and container depot monitoring field, relate in particular to a kind of deviation-preventing controller for tyre crane.
Background technology
International Maritime Industry is being brought into play important role in world commerce and expanding economy, the steady-state growth of world's economy and trade simultaneously provides chance for the development of maritime industry again.China has become world shipping big country, and its development is to the development of Chinese national economy, international commerce arbitration, and even world economy and trade all have very important effect.High efficiency harbour be unable to do without the application of high efficiency mechanical equipment and new and high technology, and this is comprising GNSS (Global Navigation Satellite System, the global navigation satellite system) application of control system on the harbour tyre crane.
RTG (Rubber-Tyre Gantry, tyre crane) is as the important power tool of container wharf, and whether its relationship between efficiency is unimpeded to the freight container traffic supply chain.Because tyre crane equipment is very huge, and it is very near from the container space distance on both sides, operator's compartment is overhead very high, driver control these huge mechanical equipments and is grown apart from straight line moving in the very narrow space of container depot, control it by straight line moving by visual, be easy to cause the case accident of hitting because of cart wanders off; As seen, realize the anti-deviation control of tyre crane, only depend on that manually to control be unusual difficulty, all the more so during head driver time tired work.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of deviation-preventing controller for tyre crane, is installed on the RTG, can carry out automatic deviation correction control.
In order to address the above problem, the invention provides a kind of RTG deviation-preventing controller, comprising:
First, second GNSS receiver, its antenna are installed in the electric room side or the power plant side of RTG cart, are respectively applied for first, second GNSS information of output;
Flush bonding processor is used for calculating first, second horizontal throw of described first, second GNSS receiver offset track datum line respectively according to described first, second GNSS information;
PLC is used for adjusting according to described first, second horizontal throw the direct of travel of described RTG cart.
Further, a described GNSS receiver is location GNSS receiver, the GNSS information of exporting is meant: according to the GNSS differential correcting number of the base station transmission that receives, and the GNSS signal that is received, produce described GNSS differential correcting number and locating information and output; Described locating information comprises the position of this location GNSS receiver at least;
Described the 2nd GNSS receiver is a direction finding GNSS receiver, and the 2nd GNSS information of exporting is meant: according to the GNSS differential correcting number of described location GNSS receiver generation, and the GNSS signal that is received, produce described direction finding message and output; Described direction finding message comprises the length and the direction finding angle of described location GNSS receiver and the line of this direction finding GNSS receiver between the subpoint on the horizontal surface.
The plane coordinates of first, second GNSS receiver when further, described flush bonding processor also is used to preserve described RTG cart normal position is as first, second coordinates correction value; And calculate the horizontal throw of described first, second coordinates correction value respectively to described track datum line, save as first, second level of corrections distance.
Further, first, second horizontal throw of described first, second GNSS receiver offset track datum line of described flush bonding processor calculating specifically is meant:
Described flush bonding processor is preserved the GIS information of operation place middle orbit datum line, is obtained the position of described track datum line straight line of projection gained on horizontal surface by described GIS information; Obtain the position of the subpoint of a described GNSS receiver on horizontal surface by described locating information, determine the position of the subpoint of described the 2nd GNSS receiver on horizontal surface by a described GNSS receiver in the position of the subpoint on the horizontal surface, described length and direction finding angle;
Calculate the horizontal throw of the position of the subpoint of first/the 2nd GNSS receiver on horizontal surface, obtain the first/the second present level distance to described straight line; Deduct described the first/the second level of corrections distance with described the first/the second present level distance and obtain the first/the second horizontal throw.
Further, described flush bonding processor also is used for going out the line of first, second GNSS receiver between the subpoint on the horizontal surface according to described direction finding message and GIS information calculations, and the angle of described track datum line between the straight line of projection gained on the horizontal surface.
Further, described PLC also is used for carrying out the prediction of RTG cart direct of travel according to described angle, adjusts the direct of travel of RTG cart.
Further, described PLC also is used for setting up model according to the velocity feedback of frequency converter, carries out the prediction of RTG cart direct of travel, adjusts the direct of travel of RTG cart.
Further, the described PLC direct of travel of adjusting described RTG cart according to described first, second horizontal throw specifically is meant:
More described first, second horizontal throw and default distance threshold, if described first or second horizontal throw is greater than this distance threshold, positive and negative according to described first, second horizontal throw then, judge the RTG cart and be left side or right side at described track datum line, thereby judging RTG cart position described relatively track datum line left avertence or right avertence, rectifies a deviation in the corresponding right side/left side of carrying out.
Further, described PLC carries out the correction of a right side/left side and specifically is meant:
Described PLC reduces the value of the RTG cart right side/left side frequency converter.
Further, described flush bonding processor also is used for the time marking that more described locating information and direction finding message carry, and as identical, then obtains the data of carrying in the locating information, and the data of carrying in the direction finding message; As difference, then continue to read follow-up information, the time marking that carries in described locating information and direction finding message is identical.
Technical scheme of the present invention is course and the attitude of measure R TG accurately, in conjunction with GIS (Geographical Information System, geographic information system) track, the stockyard data that record, automatically the track route of cart is rectified a deviation, thereby alleviate driver's labour intensity greatly, improve the operating efficiency of harbour, also reduce the generation of collision case simultaneously, be specially adapted to the container hargour terminal operation; Its prioritization scheme can be measured the high precision position and the location dependent information of carrier, accurately the location.
Description of drawings
Fig. 1 is the structural representation of the RTG deviation-preventing controller among the embodiment one.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described in detail.
Embodiment one, and the RTG deviation-preventing controller as shown in Figure 1, comprising:
First, second GNSS receiver, its antenna are installed in the electric room side or the power plant side of RTG cart, are respectively applied for first, second GNSS information of output;
Flush bonding processor is used for calculating first, second horizontal throw of described first, second GNSS receiver offset track datum line respectively according to described first, second GNSS information;
PLC (Programmable Logic Controller, programmable logic controller (PLC)) is used for adjusting according to described first, second horizontal throw the direct of travel of described RTG cart.
In the present embodiment, described flush bonding processor can but be not limited to arm processor.
In an embodiment of the present embodiment, the antenna of described first, second GNSS receiver can but be not limited to be installed on the RTG cart roof, guarantee not have in 10 ° of elevations angle and block, its installation site can but be not limited to be respectively on the both sides crossbeam of RTG cart, relative distance is far away more good more, to obtain more high-precision direction finding message.During practical application, do not get rid of yet and be installed on other position of RTG.
In the present embodiment, a described GNSS receiver is location GNSS receiver, the GNSS information of exporting is meant: according to the GNSS differential correcting number of the base station transmission that receives, and the GNSS signal that is received, produce described GNSS differential correcting number and locating information and output; Described locating information comprises the position of this location GNSS receiver at least; This position can but be not limited to latitude and longitude information.
Described the 2nd GNSS receiver can be direction finding GNSS receiver, and the 2nd GNSS information of exporting is meant: according to the GNSS differential correcting number of described location GNSS receiver generation, and the GNSS signal that is received, produce described direction finding message and output; Described direction finding message comprises the length and the direction finding angle of described location GNSS receiver and the line of this direction finding GNSS receiver between the subpoint on the horizontal surface; This direction finding angle is on the horizontal surface, the angle between described line and the reference direction (such as direct north).
During practical application, described first, second GNSS receiver also can be location GNSS receiver, and described the 2nd GNSS information also is locating information; And utilize location, direction finding message to combine to realize anti-deviation control, and precision height then, cost is low.
In an embodiment of the present embodiment, described flush bonding processor also is used to preserve the GIS information of operation place middle orbit datum line;
First, second horizontal throw that described flush bonding processor calculates described first, second GNSS receiver offset track datum line specifically is meant:
Described flush bonding processor is obtained the position of described track datum line straight line of projection gained on horizontal surface by described GIS information;
Obtain the position of the subpoint of a described GNSS receiver on horizontal surface by described locating information, calculate the distance of this subpoint, promptly described first horizontal throw to described straight line;
Determine the position of the subpoint of described the 2nd GNSS receiver on horizontal surface according to described direction finding message and locating information, promptly by a described GNSS receiver in the unique position of determining the subpoint of described the 2nd GNSS receiver on horizontal surface of the position of the subpoint on the horizontal surface, described length and direction finding angle; Calculate the distance of this subpoint then, promptly described second horizontal throw to described straight line.
In the another kind of embodiment of present embodiment, can also carry out coordinates correction when the initialization to described flush bonding processor, under the normal situation of described RTG cart run location, the distance between initialization RTG cart and the track datum line.
(x y), as first, second coordinates correction value, finishes coordinates correction to the plane coordinates of first, second GNSS receiver when described flush bonding processor is preserved RTG cart normal position on the horizontal surface plane of horizontal surface (or be parallel to).
When described RTG cart run location just often, suppose the plane coordinates (x3 of the GNSS receiver location that described flush bonding processor known locations information and direction finding message are converted to, y3), the plane coordinates ((x1 of track datum line, y1) (x2, y2)), the position (first, second coordinates correction value) of described first, second GNSS receiver saves as first, second level of corrections distance to the horizontal throw dbtmp3 of described track datum line in the time of can also further calculating described RTG cart normal position by the range formula of putting straight line:
dbtmp1＝(y2-y1)×(x3-x1)-(x2-x1)×(y3-y1)；
dbtmp2＝sqrt(pow((y2-y1)，2)+pow((x2-x1)，2))；
dbtmp3＝dbtmp1/dbtmp2。
Wherein, sqrt is an extracting operation, and (n is m) for asking m the power of n for pow.
After this when described flush bonding processor restarts, read first, second coordinates correction value of being preserved earlier, or read first, second level of corrections distance earlier.
First, second horizontal throw that described flush bonding processor calculates described first, second GNSS receiver offset track datum line specifically is meant:
Described flush bonding processor by described locating information obtain the subpoint of a described GNSS receiver on horizontal surface the position (this position can but to be not limited to be plane coordinates, the position of back is too), can be unique determine the position of the subpoint of described the 2nd GNSS receiver on horizontal surface in the position of the subpoint on the horizontal surface, described length and direction finding angle by a described GNSS receiver; Obtain the position of described track datum line straight line of projection gained on horizontal surface by described GIS information;
Calculate the horizontal throw of the position of the subpoint of a GNSS receiver on horizontal surface, obtain the first present level distance to described straight line; Deduct described first level of corrections distance with described first present level distance and obtain first horizontal throw;
Calculate the horizontal throw of the position of the subpoint of the 2nd GNSS receiver on horizontal surface, obtain the second present level distance to described straight line; Deduct described second level of corrections distance with described second present level distance and obtain second horizontal throw.
If only preserved first, second coordinates correction value, then need to calculate described first, second level of corrections distance at every turn.
In this embodiment, described flush bonding processor is in described RTG cart operational process, real-time position that calculates described RTG cart and direct of travel, use the horizontal throw between the current and described track datum line then, contrast the horizontal throw between described coordinates correction value and the described track datum line, just can obtain described first, second horizontal throw accurately.
In the present embodiment, described flush bonding processor can also be used for according to described direction finding message and GIS information, calculate first, second GNSS receiver at line between the subpoint on the horizontal surface and described track datum line the angle between the straight line of projection gained on the horizontal surface; Such as the described direction finding angle in the described direction finding message is 50 degree, is 52.43 degree between the straight line of projection gained on the horizontal surface and reference direction and obtain described track datum line according to described GIS information, and then described angle is 2.43 degree.
Described PLC can also further carry out the prediction of RTG cart direct of travel according to described angle, adjusts the direct of travel of RTG cart; The position is normal to dope next time point RTG cart such as the variation tendency according to angle, then can stop correction, or reduces the amplitude of correction.
When the 2nd GNSS receiver also is location GNSS receiver, described flush bonding processor can obtain described angle by two locating information, directly obtain the position of the subpoint of the 2nd GNSS receiver on horizontal surface by the locating information of the 2nd GNSS receiver, thereby obtain second horizontal throw; It is identical that other handles details.
In the present embodiment, described flush bonding processor can also be used for the time coupling to described locating information and direction finding message, and to its parsing, specifically comprises:
The time marking that carries in more described locating information of described flush bonding processor and the direction finding message, as identical, then obtain data such as the latitude that carries in the locating information, longitude, positioning states, and data such as the direction finding angle of carrying in the direction finding message, length, positioning states; As difference, then continue to read follow-up information, the time marking that carries in described locating information and direction finding message is identical.
In this embodiment, described flush bonding processor is preserved the GIS information of described track datum line with textual form, and datum line is 2 compositions, be (X1, and Y1) (X2, Y2).
Described flush bonding processor also is converted into X, the Y information of plane coordinates, i.e. the subpoint position of a GNSS receiver on horizontal surface with the latitude in the described locating information, longitude information; For direction finding message, X, the Y value of then utilizing X, Y value and the described length be converted to and direction finding angle gauge to calculate another plane coordinates, i.e. the subpoint position of the 2nd GNSS receiver on horizontal surface.
In the present embodiment, described first, second horizontal throw and angle that described flush bonding processor calculates can have positive negative value; Be just (described track datum line is consistent with the wharf apron direction) such as the described track datum line of regulation deflection sea side, when described RTG cart direct of travel was partial to trackside, described angle was a negative value; When described RTG cart was positioned at described track datum line trackside, described horizontal throw was a negative value.
In the present embodiment, the direct of travel that described PLC adjusts described RTG cart according to described first, second horizontal throw specifically is meant:
More described first, second horizontal throw of described PLC and default distance threshold, when described first or second horizontal throw during greater than respective threshold, mechanical parameter control cart automatic deviation correction according to described RTG cart is about to cart and leads back to again in the safe track; When described PLC is less than or equal to respective threshold when described first and second horizontal throws, judge that described RTG cart position is normal, promptly be currently operating in the perch that do not rectify a deviation this moment.
In the present embodiment, more described first, second horizontal throw of described PLC and default distance threshold, that finally obtain is exactly three results: the cart position is normal, does not rectify a deviation; Cart position described relatively track datum line left avertence is carried out right side correction action; Cart position described relatively track datum line right avertence is carried out left side correction action.
Described first, second horizontal throw can have positive and negative, and described distance threshold also can have two, and one is positive, bear for one.Positive and negative by described first, second horizontal throw, it is left side or right side at datum line that described PLC just can judge the RTG cart, again by with the contrast of described distance threshold, can further judge and whether depart from setting range (described first or second horizontal throw is greater than described distance threshold), as depart from setting range, the action of then rectifying a deviation.Can certainly have only a distance threshold, compare with the absolute value of described first, second horizontal throw and this distance threshold.
In the present embodiment, described PLC control cart automatic deviation correction specifically can be meant:
As the cart position relatively as described in track datum line left avertence, then described PLC reduces cart right side tire speed, the value that promptly reduces the right side frequency converter is not (before the action, the both sides wheel velocity is the same, the frequency converter value is the same), make cart left side tire speed greater than the right side, cart moves right, reach the automatic deviation correction action of entangling on the cart right side, the guiding cart turns back on the operation datum line again; As the cart position relatively as described in track datum line right avertence, then described PLC reduces cart left side tire speed, promptly reduce the value of left side frequency converter, make cart right side tire speed greater than the left side, cart is to left movement, reach the automatic deviation correction action of entangling on a cart left side, the guiding cart turns back on the operation datum line again.
In the present embodiment, between described flush bonding processor and the PLC can but be not limited to connect and communication by serial ports.
In the present embodiment, described flush bonding processor can be with described first, second horizontal throw, the angle that calculates, in conjunction with described locating information, direction finding message, the cart relevant information (mechanical parameter of cart such as whether, such as cart whether in the stockyard etc.) according to and PLC between the interface format of serial communication package, send to described PLC by serial ports.
Whether in the present embodiment, described PLC receives the data that described flush bonding processor sends by serial ports, correct by message header, message ending, information encoding judgment data: as message header, message ending mal, then data mal; As within a certain period of time, it is constant to receive information encoding (the every transmission one bag data of described flush bonding processor, message numbering is from adding), then thinks the data mal.
Can also design other parameter of correction as required for the RTG in the site environment; Not only work as described RTG such as described PLC and in the operation stockyard, rectify a deviation, can also when the cart passageway, also rectify a deviation.Described for another example PLC works as described RTG cart and can not rectify a deviation below one grade, because DeGrain.
Described PLC can also be used for judging whether to adjust according to described first, second horizontal throw according to described RTG cart state the direct of travel of described RTG cart; Such as a rule, the RTG cart is when storage yard operation, and described RTG cart is 0 degree, and described RTG cart is 90 degree in the time of need cutting to, and then described PLC is when described RTG cart is 0 just to adjust when spending, and is 90 not adjust when spending.
In the present embodiment, the mechanical parameter of described RTG cart comprises the parameter of speed, frequency converter etc.
In the present embodiment, described PLC can also be used for setting up model according to the velocity feedback of described frequency converter, carries out the direct of travel prediction, adjusts the direct of travel of RTG cart.Such as difference according to the both sides tire speed, dope the inertia direct of travel of next time point RTG cart, it is normal that a following time point is about to the in-position, then can stop correction, or reduce the amplitude of correction.
Can set many group distance thresholds, corresponding with the speed of different described RTG cart respectively; Work as speed not simultaneously like this, the amplitude of correction is also different, and speed is big, and threshold value is established bigger, is like this to consider that threshold value is too little, and the too fast inertia of speed is big, frequent the rectifying a deviation of meeting, and long-time the correction can influence the life-span of frequency converter.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of claim of the present invention.
Claims (10)
1. a RTG deviation-preventing controller is characterized in that, comprising:
First, second GNSS receiver, its antenna are installed in the electric room side or the power plant side of RTG cart, are respectively applied for first, second GNSS information of output;
Flush bonding processor is used for calculating first, second horizontal throw of described first, second GNSS receiver offset track datum line respectively according to described first, second GNSS information;
PLC is used for adjusting according to described first, second horizontal throw the direct of travel of described RTG cart.
2. RTG deviation-preventing controller as claimed in claim 1 is characterized in that:
A described GNSS receiver is location GNSS receiver, and the GNSS information of exporting is meant: according to the GNSS differential correcting number of the base station transmission that receives, and the GNSS signal that is received, produce described GNSS differential correcting number and locating information and output; Described locating information comprises the position of this location GNSS receiver at least;
Described the 2nd GNSS receiver is a direction finding GNSS receiver, and the 2nd GNSS information of exporting is meant: according to the GNSS differential correcting number of described location GNSS receiver generation, and the GNSS signal that is received, produce described direction finding message and output; Described direction finding message comprises the length and the direction finding angle of described location GNSS receiver and the line of this direction finding GNSS receiver between the subpoint on the horizontal surface.
3. RTG deviation-preventing controller as claimed in claim 2 is characterized in that:
The plane coordinates of first, second GNSS receiver when described flush bonding processor also is used to preserve described RTG cart normal position is as first, second coordinates correction value; And calculate the horizontal throw of described first, second coordinates correction value respectively to described track datum line, save as first, second level of corrections distance.
4. RTG deviation-preventing controller as claimed in claim 3 is characterized in that, first, second horizontal throw that described flush bonding processor calculates described first, second GNSS receiver offset track datum line specifically is meant:
Described flush bonding processor is preserved the GIS information of operation place middle orbit datum line, is obtained the position of described track datum line straight line of projection gained on horizontal surface by described GIS information; Obtain the position of the subpoint of a described GNSS receiver on horizontal surface by described locating information, determine the position of the subpoint of described the 2nd GNSS receiver on horizontal surface by a described GNSS receiver in the position of the subpoint on the horizontal surface, described length and direction finding angle;
Calculate the horizontal throw of the position of the subpoint of first/the 2nd GNSS receiver on horizontal surface, obtain the first/the second present level distance to described straight line; Deduct described the first/the second level of corrections distance with described the first/the second present level distance and obtain the first/the second horizontal throw.
5. as each described RTG deviation-preventing controller in the claim 2 to 4, it is characterized in that:
Described flush bonding processor also is used for going out the line of first, second GNSS receiver between the subpoint on the horizontal surface according to described direction finding message and GIS information calculations, and the angle of described track datum line between the straight line of projection gained on the horizontal surface.
6. RTG deviation-preventing controller as claimed in claim 5 is characterized in that:
Described PLC also is used for carrying out the prediction of RTG cart direct of travel according to described angle, adjusts the direct of travel of RTG cart.
7. as each described RTG deviation-preventing controller in the claim 2 to 4, it is characterized in that:
Described PLC also is used for setting up model according to the velocity feedback of frequency converter, carries out the prediction of RTG cart direct of travel, adjusts the direct of travel of RTG cart.
8. as each described RTG deviation-preventing controller in the claim 2 to 4, it is characterized in that the direct of travel that described PLC adjusts described RTG cart according to described first, second horizontal throw specifically is meant:
More described first, second horizontal throw and default distance threshold, if described first or second horizontal throw is greater than this distance threshold, positive and negative according to described first, second horizontal throw then, judge the RTG cart and be left side or right side at described track datum line, thereby judging RTG cart position described relatively track datum line left avertence or right avertence, rectifies a deviation in the corresponding right side/left side of carrying out.
9. RTG deviation-preventing controller as claimed in claim 8 is characterized in that, described PLC carries out the right side/left side correction and specifically is meant:
Described PLC reduces the value of the RTG cart right side/left side frequency converter.
10. as each described RTG deviation-preventing controller in the claim 2 to 4, it is characterized in that:
Described flush bonding processor also is used for the time marking that more described locating information and direction finding message carry, and as identical, then obtains the data of carrying in the locating information, and the data of carrying in the direction finding message; As difference, then continue to read follow-up information, the time marking that carries in described locating information and direction finding message is identical.
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| CN200910243702A CN101746676A (en) | 2009-12-23 | 2009-12-23 | Deviation-preventing controller for tyre crane |
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| CN200910243702A CN101746676A (en) | 2009-12-23 | 2009-12-23 | Deviation-preventing controller for tyre crane |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774753A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | GPS-based system and method for rectifying deviation of gantry crane automatically |
| CN102774752A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | Automatic deviation-control system and method for gantry crane based on beidou satellite positioning system |
| CN106219416A (en) * | 2016-09-13 | 2016-12-14 | 北京建筑大学 | A kind of double lifting rope section construction crane machines utilizing GNSS technology |
| CN106219401A (en) * | 2016-08-06 | 2016-12-14 | 上海新时达电气股份有限公司 | The automatic correction method of tyre crane straight line moving and system thereof |
| CN107943020A (en) * | 2017-10-17 | 2018-04-20 | 上海辛格林纳新时达电机有限公司 | A kind of tyre crane cart automatic correction method |
-
2009
- 2009-12-23 CN CN200910243702A patent/CN101746676A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774753A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | GPS-based system and method for rectifying deviation of gantry crane automatically |
| CN102774752A (en) * | 2012-08-10 | 2012-11-14 | 北京中船信息科技有限公司 | Automatic deviation-control system and method for gantry crane based on beidou satellite positioning system |
| CN102774753B (en) * | 2012-08-10 | 2015-05-13 | 北京中船信息科技有限公司 | GPS-based system and method for rectifying deviation of gantry crane automatically |
| CN102774752B (en) * | 2012-08-10 | 2015-05-13 | 北京中船信息科技有限公司 | Method for automatic deviation-control system for gantry crane based on beidou satellite positioning system |
| CN106219401A (en) * | 2016-08-06 | 2016-12-14 | 上海新时达电气股份有限公司 | The automatic correction method of tyre crane straight line moving and system thereof |
| CN106219416A (en) * | 2016-09-13 | 2016-12-14 | 北京建筑大学 | A kind of double lifting rope section construction crane machines utilizing GNSS technology |
| CN106219416B (en) * | 2016-09-13 | 2018-07-13 | 北京建筑大学 | A kind of double lifting rope section construction crane machines using GNSS technologies |
| CN107943020A (en) * | 2017-10-17 | 2018-04-20 | 上海辛格林纳新时达电机有限公司 | A kind of tyre crane cart automatic correction method |
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Application publication date: 20100623 |