CN102452617A - Method and device for positioning crane landing leg - Google Patents
Method and device for positioning crane landing leg Download PDFInfo
- Publication number
- CN102452617A CN102452617A CN2010105301666A CN201010530166A CN102452617A CN 102452617 A CN102452617 A CN 102452617A CN 2010105301666 A CN2010105301666 A CN 2010105301666A CN 201010530166 A CN201010530166 A CN 201010530166A CN 102452617 A CN102452617 A CN 102452617A
- Authority
- CN
- China
- Prior art keywords
- rover station
- position coordinate
- under
- station
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a method and a device for positioning a crane landing leg. The method comprises the following steps: arranging two mobile stations on a crane; arranging a GPS (global positioning system) base station within a preset distance range of the crane; revising position coordinates acquired from a satellite by the two mobile stations by utilizing the satellite measurement deviation acquired by the GPS base station, thus obtaining the accurate position coordinates of the two mobile stations; obtaining the relative position between each mobile station and the target position of the crane landing leg under a spatial three-dimensional coordinate system; mapping the relative position between each mobile station and the target position of the landing leg under a two-dimensional planar coordinate system of a crane vehicle body platform; acquiring the coordinate of the target position of the landing leg according to the coordinates of the mobile stations under the planar coordinate system; and then controlling the landing leg to reach the target position according to the distance between the initial position and target position of the landing leg. According to the method, a GPS dynamic real-time differential technology, instead of direct observation based on eyes, is utilized to carry out automatic control on the crane landing leg, the landing leg can be accurately controlled to reach the target position, and the precision reaches the centimeter level.
Description
Technical field
The present invention relates to mechanical equipment control technology field, particularly a kind of hoisting crane supporting leg localization method and device.
Background technology
Crawler crane is that hoisting operation partly is contained on the crawler body, and walking relies on the runabout crane of crawler body.Crawler crane can carry out operations such as material lifting, transportation, loading and unloading and installation.Crawler crane has that load-carrying ability is strong, grounding pressure is little, turn radius is little, hill climbing ability greatly, does not need supporting leg, band carries and goes, job stabilization is good and the truss combined altitudes such as can freely change at advantage, so is widely used at construction industries such as petrochemical complex, water conservancy and hydropowers.
The applied environment major part of crawler crane is coastal beach area, and these regional complicated geologies, bearing capacity is low and skewness, makes crawler crane under such construction environment, can't carry out the supporting leg location preferably.Hoisting crane supporting leg location is realized through the eyes visual observations by the staff at present.This visual observations mode is suitable to be used in the smooth construction environment, and bigger through the observable resultant error of eyes.
For the construction environment of crawler crane, complicated landform can't observe directly through eyes.For example some target location is below horizontal surface, can't see at all.Therefore, the staff utilizes eyes direct viewing target location can not accurately locate the position of hoisting crane supporting leg at present.
Summary of the invention
The technical matters that the present invention will solve provides a kind of hoisting crane supporting leg registration device and method, can accurately locate the hoisting crane supporting leg to the target location.
The embodiment of the invention provides a kind of hoisting crane supporting leg localization method, and first rover station and second rover station are set on the hoisting crane car body, and first rover station is provided with first gps antenna; Second rover station is provided with second gps antenna; First rover station obtains the position coordinate of first rover station of measurement in real time through first gps antenna from satellite; Second rover station obtains the position coordinate of second rover station of measurement in real time through second gps antenna from satellite; May further comprise the steps:
Satellite measured deviation with the GPS base station obtains is proofreaied and correct the position coordinate of first rover station and the position coordinate of second rover station respectively, obtains the accurate position coordinate of first rover station under the geodetic coordinate system and the accurate position coordinate of second rover station respectively;
Convert the accurate position coordinate of first rover station under the said geodetic coordinate system and the accurate position coordinate of second rover station under the 3 d space coordinate system position coordinate;
3 d space coordinate system down calculating hoisting crane supporting leg the target location respectively with the relative position information of the accurate position coordinate of first rover station and second rover station;
Obtain first rover station and second rover station planimetric position coordinate under hoisting crane car body flat-bed two dimensional surface system of axes;
Planimetric position coordinate and said relative position information by two rover stations obtain the coordinates of targets of four supporting legs under said two dimensional surface system of axes;
By hoisting crane supporting leg four supporting legs of initial coordinate and the relative distance between coordinates of targets control hoisting crane under said two dimensional surface system of axes to separately target location.
Preferably, the satellite measured deviation that obtains with the GPS base station is proofreaied and correct respectively before the position coordinate of position coordinate and second rover station of first rover station, also comprises:
Convert the GPS base station under the geodetic coordinate system position coordinate through the 3rd gps antenna from the position coordinate of the GPS base station that satellite obtains according to the space coordinates conversion formula;
The GPS base station is compared acquisition satellite measured deviation at the geodetic coordinate system position coordinate down of the position coordinate under the geodetic coordinate system with known GPS base station in advance.
Preferably, the position deviation that the said satellite that obtains with the GPS base station is measured is proofreaied and correct the position coordinate of first rover station and the position coordinate of second rover station respectively, is specially:
Convert the position coordinate of first rover station and the position coordinate of second rover station under the geodetic coordinate system position coordinate respectively according to the space coordinates conversion formula;
Proofread and correct the position coordinate of first rover station under the geodetic coordinate system and the position coordinate of second rover station by the satellite measured deviation.
Preferably, said first rover station and the planimetric position coordinate of second rover station under hoisting crane car body flat-bed two dimensional surface system of axes of obtaining is specially:
First rover station and second rover station are set on the X axle under the said two dimensional surface system of axes, about former point symmetry; Or
First rover station and second rover station are set on the Y axle under the said two dimensional surface system of axes, about former point symmetry.
The embodiment of the invention also provides a kind of hoisting crane supporting leg registration device, comprising: first rover station, second rover station, data handler, controller and with the hoisting crane predetermined distance range in the GPS base station that is provided with; Said first rover station and second rover station are arranged on the hoisting crane car body, on first gps antenna that is provided with on said first rover station, said second rover station second gps antenna are set;
Said first rover station; Be used for obtaining the position coordinate of first rover station of measurement in real time from satellite through first gps antenna; The satellite measured deviation that obtains with the GPS base station is proofreaied and correct the position coordinate of first rover station, obtains the accurate position coordinate of first rover station and sends to data handler;
Said second rover station; Be used for obtaining the position coordinate of second rover station of measurement in real time from satellite through second gps antenna; The satellite measured deviation that obtains with the GPS base station is proofreaied and correct the position coordinate of second rover station, obtains the accurate position coordinate of second rover station and sends to data handler;
Said data handler, be used for 3 d space coordinate system down calculating hoisting crane supporting leg the target location respectively with the relative position information of first rover station and second rover station; Obtain first rover station and second rover station planimetric position coordinate under hoisting crane car body flat-bed two dimensional surface system of axes; Planimetric position coordinate and said relative position information by two rover stations obtain the coordinates of targets of four supporting legs under said two dimensional surface system of axes;
Said controller, hoisting crane supporting leg initial coordinate and four supporting legs of the control hoisting crane of the relative distance between the coordinates of targets under said two dimensional surface system of axes that are used for obtaining according to data handler arrive target location separately.
Preferably, also comprise the 3rd gps antenna, the GPS base station obtains the position coordinate of GPS base station from satellite through the 3rd gps antenna;
Said GPS base station comprises first coordinate transformation unit, is used for will converting the position coordinate under the geodetic coordinate system into from the position coordinate of the GPS base station that satellite obtains according to the space coordinates conversion formula;
Said GPS base station comprises that the satellite measured deviation obtains the unit, is used for the position coordinate of GPS base station under the geodetic coordinate system of the position coordinate geodetic coordinate system under and known GPS base station in advance compared acquisition satellite measured deviation;
Said GPS base station comprises the deviation transmitting element, is used for said satellite measured deviation is sent to first rover station and second rover station.
Preferably, said first rover station comprises the first deviation receiving element, second coordinate transformation unit and the first coordinates correction unit;
The said first deviation receiving element is used to receive the satellite measured deviation that send the GPS base station;
Said second coordinate transformation unit is used for converting the position coordinate of first rover station under the geodetic coordinate system position coordinate according to the space coordinates conversion formula;
The said first coordinates correction unit is used for obtaining accurate position coordinate by the position coordinate of first rover station under the said satellite measured deviation correction geodetic coordinate system.
Preferably, said second rover station comprises the second deviation receiving element, three-dimensional converting unit and the second coordinates correction unit;
The said second deviation receiving element is used to receive the satellite measured deviation that send the GPS base station;
Said three-dimensional converting unit is used for converting the position coordinate of first rover station under the geodetic coordinate system position coordinate according to the space coordinates conversion formula;
The said second coordinates correction unit is used for obtaining accurate position coordinate by the position coordinate of first rover station under the said satellite measured deviation correction geodetic coordinate system.
Preferably, said data processing unit comprises rover station plane coordinates acquiring unit, is used to be provided with first rover station and the X axle of second rover station under said two dimensional surface system of axes, about former point symmetry; Or
Be used to be provided with first rover station and the Y axle of second rover station under said two dimensional surface system of axes, about former point symmetry.
Preferably, said data handler comprises the 4-coordinate converting unit, is used for converting the target location of hoisting crane supporting leg under the geodetic coordinate system that imports in advance under the 3 d space coordinate system target location.
Preferably, also comprise the GPS read-out, be used to read and browse the target location of hoisting crane supporting leg under 3 d space coordinate system.
Compared with prior art, the present invention has the following advantages:
The method and apparatus of hoisting crane supporting leg provided by the invention location; Two rover stations are set on hoisting crane; The GPS base station is set in the hoisting crane predetermined distance range; Satellite measured deviation through the GPS base station obtains is proofreaied and correct two rover stations from the position coordinate that satellite obtains, and obtains two rover stations position coordinate accurately.Two rover stations of acquisition are respectively and the relative position between the target location of hoisting crane supporting leg down in 3 d space coordinate system; The relative position of rover station and supporting leg target location is mapped under the hoisting crane car body flat-bed two dimensional surface system of axes; By the coordinate of the coordinate acquisition supporting leg target location of rover station under plane coordinate system, control supporting leg to the target location by the distance between supporting leg initial position and the target location then.Because this method adopts GPS dynamic real-time differential technique that the supporting leg of hoisting crane is carried out automatic guidance; Rather than through eyes directly observation control; Therefore, method provided by the invention can accurately be controlled supporting leg to the target location, and accuracy rate can reach Centimeter Level.
Description of drawings
Fig. 1 is embodiment one diagram of circuit of hoisting crane supporting leg localization method provided by the invention;
Fig. 2 is another embodiment diagram of circuit of hoisting crane supporting leg localization method provided by the invention;
Fig. 3 is a car body platform two dimensional surface system of axes scheme drawing provided by the invention;
Fig. 4 is embodiment one constructional drawing of hoisting crane supporting leg registration device provided by the invention;
Fig. 5 is the constructional drawing of GPS provided by the invention base station;
Fig. 6 is the constructional drawing of first rover station provided by the invention;
Fig. 7 is the constructional drawing of second rover station provided by the invention.
The specific embodiment
In order to make those skilled in the art understand the technical scheme with embodiment of the present invention better, at first introduce GPS dynamic real-time difference (RTK, Real-Time Kinematic) technology down below.
The RTK technology is to be the real time differential GPS technology of basis with the carrier phase observed quantity.The groundwork of RTK technology is the relative theory according to GPS, and a receiver is arranged on the known point, and this receiver is called the base station in the present invention; Other mobile receiver is placed on the tested point, and this mobile receiver is called rover station in the present invention; Base station and rover station receive the signal of same satellite synchronously.The satellite-signal that base station and rover station receive carries out difference, can weaken or eliminate the influence of orbit error, clock correction, atmosphere errors etc., thereby improves the real-time positioning precision.
Hoisting crane supporting leg localization method provided by the invention and device are particularly useful for the crawler crane of under the beach coastal environments, working; Because the complexity of crawler crane construction environment uses this method accurately reliably the hoisting crane supporting leg to be positioned at the target location that needs.
For make above-mentioned purpose of the present invention, feature and advantage can be more obviously understandable, does detailed explanation below in conjunction with the accompanying drawing specific embodiments of the invention.
Referring to Fig. 1, this figure is embodiment one diagram of circuit of hoisting crane supporting leg localization method provided by the invention.
The present invention provides a kind of hoisting crane supporting leg localization method, and first rover station and second rover station are set on the hoisting crane car body, and first rover station is provided with first gps antenna; Second rover station is provided with second gps antenna; First rover station obtains the position coordinate of first rover station of measurement in real time through first gps antenna from satellite; Second rover station obtains the position coordinate of second rover station of measurement in real time through second gps antenna from satellite; May further comprise the steps:
S101: the satellite measured deviation with the GPS base station obtains is proofreaied and correct the position coordinate of first rover station and the position coordinate of second rover station respectively, obtains the accurate position coordinate of first rover station under the geodetic coordinate system and the accurate position coordinate of second rover station respectively;
Need to prove that GPS base station, first rover station and second rover station all receive satellites information from satellite in the sky, obtain the ground location separately that satellite is measured.
GPS base station operated by rotary motion is being the center of circle with the hoisting crane car body, and radius is in the scope of 15km.The purpose of GPS base station is the deviation of proofreading and correct the satellite data that rover station receives, as long as in this scope, the deviation of satellite data is consistent, the deviation that therefore can proofread and correct two rover stations with a GPS base station.
The GPS base station under geodetic coordinate system accurately position coordinate measure in advance through instrument.
S102: convert the accurate position coordinate of first rover station under the said geodetic coordinate system and the accurate position coordinate of second rover station under the 3 d space coordinate system position coordinate;
Because the electronic chart of hoisting crane construction area is a geodetic coordinate system, at first the geodetic coordinate system with electronic chart converts 3 d space coordinate system into, and the target location of hoisting crane supporting leg is the form of 3 d space coordinate system like this.For the conformability of comparison information, need the accurate position coordinate of two rover stations be converted into the form of 3 d space coordinate system.
S103: 3 d space coordinate system down calculating hoisting crane supporting leg the target location respectively with the relative position information of the accurate position coordinate of first rover station and second rover station;
Because first rover station and second rover station can be confirmed an orientation under 3 d space coordinate system; A supporting leg with hoisting crane can constitute a triangle then; Each supporting leg of hoisting crane and the phase location between two rover stations be can calculate through triangular relationship, distance, relative angle etc. comprised.
S104: obtain first rover station and second rover station planimetric position coordinate under hoisting crane car body flat-bed two dimensional surface system of axes;
On hoisting crane car body platform, set up the two dimensional surface system of axes in advance, because two rover stations are on car body, two rover stations and car body are relatively-stationary, therefore, can obtain the planimetric position coordinate of two rover stations under this two dimensional surface system of axes.
S105: planimetric position coordinate and said relative position information by two rover stations obtain the coordinates of targets of four supporting legs under said two dimensional surface system of axes;
With two rover stations is benchmark, obtains the coordinates of targets of each supporting leg under the two dimensional surface system of axes through the relative position information between rover station and each supporting leg.
S106: by hoisting crane supporting leg four supporting legs of initial coordinate and the relative distance between coordinates of targets control hoisting crane under said two dimensional surface system of axes to separately target location.
The initial position of each supporting leg on the hoisting crane car body also is to obtain in advance, therefore, can obtain the initial coordinate of each supporting leg under this two dimensional surface system of axes.Like this, initial coordinate and the coordinates of targets of hoisting crane supporting leg under the two dimensional surface system of axes all obtains, and just can control each supporting leg to the target location through the relative distance of calculating between coordinates of targets and the initial coordinate.
The localization method of the hoisting crane supporting leg that the embodiment of the invention provides; Accurately obtain the location information of two rover stations through the GPS_RTK technology; Obtain the relative position information between each supporting leg of hoisting crane and the rover station then; Be the basis with the plane coordinates of two rover stations on the car body platform; Also convert the target location of supporting leg under the plane coordinate system coordinate,, so can be under the two dimensional surface system of axes of car body easily each supporting leg of hoisting crane be controlled to the target location because the coordinate of supporting leg under plane coordinate system be known.Because this localization method is realized the control of supporting leg automatically based on GPS_RTK, do not need chaufeur to pass through the target location that eyes are observed the hoisting crane supporting leg, therefore, can control supporting leg accurately to the target location.
Referring to Fig. 2, this figure is another embodiment diagram of circuit of hoisting crane supporting leg localization method provided by the invention.
Present embodiment is mainly introduced the mutual conversion between the system of axes, is space coordinates owing to directly obtain data from satellite, therefore needs at first to convert the location information under the space coordinates into geodetic coordinate system.
S201: convert the GPS base station under the geodetic coordinate system position coordinate through the 3rd gps antenna from the position coordinate of the GPS base station that satellite obtains according to the space coordinates conversion formula;
S202: the GPS base station is compared acquisition satellite measured deviation at the geodetic coordinate system position coordinate down of the position coordinate under the geodetic coordinate system with known GPS base station in advance.
S203: convert the position coordinate of first rover station and the position coordinate of second rover station under the geodetic coordinate system position coordinate respectively according to the space coordinates conversion formula;
It is understandable that S203 and S201 and S202 do not have sequencing, S203 can be before or after S201.
S204: proofread and correct the position coordinate of first rover station under the geodetic coordinate system and the position coordinate of second rover station by the satellite measured deviation, obtain the ready position coordinate of first rover station and second rover station respectively.
S205 and S206 respectively with embodiment one in S102 and S103 identical, repeat no more at this.
S207: said first rover station and the planimetric position coordinate of second rover station under hoisting crane car body flat-bed two dimensional surface system of axes of obtaining is specially:
First rover station and second rover station are set on the X axle under the said two dimensional surface system of axes, about former point symmetry; Or
First rover station and second rover station are set on the Y axle under the said two dimensional surface system of axes, about former point symmetry.
It is understandable that car body flat-bed two dimensional surface system of axes is set up in advance, simple in order to calculate; Can first rover station and second rover station be arranged on the specific position of two dimensional surface system of axes; For example symmetrical about initial point on the X axle, or, symmetrical about initial point on the Y axle.
For example shown in Figure 3, this figure is a car body platform two dimensional surface system of axes scheme drawing provided by the invention.
In Fig. 3, the first rover station M and the second rover station N are set on the transverse axis X of the two dimensional surface system of axes of car body platform T axle, and about former point symmetry, the coordinate points of the such first rover station M and the second rover station N is fairly simple, thereby can conveniently calculate.
It is understandable that, first rover station and second rover station can be set in any position of two dimensional surface system of axes.
Wherein A, B, C and D represent the position of four supporting legs of hoisting crane respectively.Under this two dimensional surface system of axes, if the coordinate of M and N is known, and the relative position information between M and N and A, B, C, the D, then utilizes triangular relationship can obtain the coordinate of A, B, C, D.For example, ask the coordinate time of A, can obtain by M, N and 3 triangles that constitute of A.
S208 is identical with S105 and S106 respectively with S209, repeats no more at this.
It is understandable that; The supporting leg of hoisting crane moves to coordinates of targets by initial coordinate and can realize through prior art; The controller of hoisting crane can be controlled information such as the swaying direction, angle, horizontal collapsing length of supporting leg; And calculating in real time is when the deviation of front leg strut and target location; Thereby control stretching speed, length and swing speed, the angle of supporting leg through stretching of modulated pressure oil cylinder, in the deviation of each supporting leg and target location reached predetermined error limit, hydraulic ram stopped to regulate.
Based on the method for above-mentioned a kind of hoisting crane supporting leg location, the present invention also provides the device of a kind of hoisting crane supporting leg location, specifies its component part below in conjunction with specific embodiment.
Referring to Fig. 4, this figure is embodiment one constructional drawing of hoisting crane supporting leg registration device provided by the invention.
The hoisting crane supporting leg registration device that present embodiment provides comprises: the first rover station M, the second rover station N, data handler 401, controller 402 and with the hoisting crane predetermined distance range in the GPS base station 403 that is provided with; The said first rover station M and the second rover station N are arranged on the hoisting crane car body; Be provided with on the said first rover station M on the first gps antenna G1, the said second rover station N the second gps antenna G2 is set;
The said first rover station M; Be used for obtaining the position coordinate of the first rover station M of measurement in real time from satellite through the first gps antenna G1; The satellite measured deviation that obtains with GPS base station 403 is proofreaied and correct the position coordinate of the first rover station M, obtains the accurate position coordinate of the first rover station M and sends to data handler 401;
Need to prove that GPS base station 403, the first rover station M and the second rover station N all receive satellites information from satellite in the sky, obtain the ground location separately that satellite is measured.
The said second rover station N; Be used for obtaining the position coordinate of the second rover station N of measurement in real time from satellite through the second gps antenna G2; The satellite measured deviation that obtains with GPS base station 403 is proofreaied and correct the position coordinate of the second rover station N, obtains the accurate position coordinate of the second rover station N and sends to data handler 401;
Said data handler 401, be used for 3 d space coordinate system down calculating hoisting crane supporting leg the target location respectively with the relative position information of the first rover station M and the second rover station N; Obtain the first rover station M and the second rover station N planimetric position coordinate under hoisting crane car body flat-bed two dimensional surface system of axes; Planimetric position coordinate and said relative position information by two rover stations obtain the coordinates of targets of four supporting legs under said two dimensional surface system of axes;
Said controller 402, hoisting crane supporting leg initial coordinate and four supporting legs of the control hoisting crane of the relative distance between the coordinates of targets under said two dimensional surface system of axes that are used for obtaining according to data handler 401 arrive target location separately.
The registration device of the hoisting crane supporting leg that the embodiment of the invention provides; Accurately obtain the location information of two rover stations through the GPS_RTK technology; Obtain the relative position information between each supporting leg of hoisting crane and the rover station then; Be the basis with the plane coordinates of two rover stations on the car body platform; Also convert the target location of supporting leg under the plane coordinate system coordinate,, so can be under the two dimensional surface system of axes of car body easily each supporting leg of hoisting crane be controlled to the target location because the coordinate of supporting leg under plane coordinate system be known.Because this localization method is realized the control of supporting leg automatically based on GPS_RTK, do not need chaufeur to pass through the target location that eyes are observed the hoisting crane supporting leg, therefore, can control supporting leg accurately to the target location.
Introduce the structure of GPS base station below in conjunction with Fig. 5, referring to Fig. 5, this figure is the constructional drawing of GPS provided by the invention base station.
Registration device provided by the invention also comprises the 3rd gps antenna G3, and GPS base station 403 obtains the position coordinate of GPS base station from satellite through the 3rd gps antenna G3.
Said GPS base station comprises the first coordinate transformation unit 403a, is used for will converting the position coordinate under the geodetic coordinate system into from the position coordinate of the GPS base station that satellite obtains according to the space coordinates conversion formula;
Said GPS base station comprises that the satellite measured deviation obtains unit 403b, is used for the position coordinate of GPS base station under the geodetic coordinate system of the position coordinate geodetic coordinate system under and known GPS base station in advance compared acquisition satellite measured deviation;
The GPS base station under geodetic coordinate system accurately position coordinate measure in advance through instrument.
Said GPS base station comprises deviation transmitting element 403c, is used for said satellite measured deviation is sent to first rover station and second rover station.
This deviation transmitting element 403c can be realized by the radio transmitting antenna.First rover station and second rover station can receive this satellite measured deviation through first radio receiving antenna and second radio receiving antenna respectively.
Introduce the structure of first rover station provided by the invention below in conjunction with Fig. 6, referring to Fig. 6, this figure is the constructional drawing of first rover station provided by the invention.
Said first rover station comprises the first deviation receiving element 601, second coordinate transformation unit 602 and the first coordinates correction unit 603;
The said first deviation receiving element 601 is used to receive the satellite measured deviation that send the GPS base station;
This first deviation receiving element 601 can be realized by first radio receiving antenna that is arranged on first rover station.
Said second coordinate transformation unit 602 is used for converting the position coordinate of first rover station under the geodetic coordinate system position coordinate according to the space coordinates conversion formula;
Because first rover station is a spatial coordinates from the position coordinate that satellite obtains, for geodetic coordinate system satellite measured deviation comparison down, therefore, need be geodetic coordinate with space coordinate conversion.
The said first coordinates correction unit 603 is used for obtaining accurate position coordinate by the position coordinate of first rover station under the said satellite measured deviation correction geodetic coordinate system.
Introduce the structure of second rover station provided by the invention below in conjunction with Fig. 7, referring to Fig. 7, this figure is the constructional drawing of second rover station provided by the invention.
The structural similitude of second rover station and first rover station.
Said second rover station comprises the second deviation receiving element 701, three-dimensional converting unit 702 and the second coordinates correction unit 703;
The said second deviation receiving element 701 is used to receive the satellite measured deviation that send the GPS base station;
This second deviation receiving element 701 can be realized by second radio receiving antenna that is arranged on second rover station.
Said three-dimensional converting unit 702 is used for converting the position coordinate of first rover station under the geodetic coordinate system position coordinate according to the space coordinates conversion formula;
The said second coordinates correction unit 703 is used for obtaining accurate position coordinate by the position coordinate of first rover station under the said satellite measured deviation correction geodetic coordinate system.
Data handler also comprises the 4-coordinate converting unit, is used for converting the target location of hoisting crane supporting leg under the geodetic coordinate system that imports in advance under the 3 d space coordinate system target location.
Hoisting crane supporting leg registration device provided by the invention also comprises the GPS read-out, is used to read and browse the target location of hoisting crane supporting leg under 3 d space coordinate system.
The above only is preferred embodiment of the present invention, is not the present invention is done any pro forma restriction.Though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention.Any those of ordinary skill in the art; Do not breaking away under the technical scheme scope situation of the present invention; All the method for above-mentioned announcement capable of using and technology contents are made many possible changes and modification to technical scheme of the present invention, or are revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not break away from technical scheme of the present invention, all still belongs in the scope of technical scheme protection of the present invention any simple modification, equivalent variations and modification that above embodiment did according to technical spirit of the present invention.
Claims (11)
1. a hoisting crane supporting leg localization method is characterized in that, first rover station and second rover station are set on the hoisting crane car body, and first rover station is provided with first gps antenna; Second rover station is provided with second gps antenna; First rover station obtains the position coordinate of first rover station of measurement in real time through first gps antenna from satellite; Second rover station obtains the position coordinate of second rover station of measurement in real time through second gps antenna from satellite; May further comprise the steps:
Satellite measured deviation with the GPS base station obtains is proofreaied and correct the position coordinate of first rover station and the position coordinate of second rover station respectively, obtains the accurate position coordinate of first rover station under the geodetic coordinate system and the accurate position coordinate of second rover station respectively;
Convert the accurate position coordinate of first rover station under the said geodetic coordinate system and the accurate position coordinate of second rover station under the 3 d space coordinate system position coordinate;
3 d space coordinate system down calculating hoisting crane supporting leg the target location respectively with the relative position information of the accurate position coordinate of first rover station and second rover station;
Obtain first rover station and second rover station planimetric position coordinate under hoisting crane car body flat-bed two dimensional surface system of axes;
Planimetric position coordinate and said relative position information by two rover stations obtain the coordinates of targets of four supporting legs under said two dimensional surface system of axes;
By hoisting crane supporting leg four supporting legs of initial coordinate and the relative distance between coordinates of targets control hoisting crane under said two dimensional surface system of axes to separately target location.
2. method according to claim 1 is characterized in that, the satellite measured deviation that obtains with the GPS base station is proofreaied and correct respectively before the position coordinate of position coordinate and second rover station of first rover station, also comprises:
Convert the GPS base station under the geodetic coordinate system position coordinate through the 3rd gps antenna from the position coordinate of the GPS base station that satellite obtains according to the space coordinates conversion formula;
The GPS base station is compared acquisition satellite measured deviation at the geodetic coordinate system position coordinate down of the position coordinate under the geodetic coordinate system with known GPS base station in advance.
3. method according to claim 2 is characterized in that, the position deviation that the said satellite that obtains with the GPS base station is measured is proofreaied and correct the position coordinate of first rover station and the position coordinate of second rover station respectively, is specially:
Convert the position coordinate of first rover station and the position coordinate of second rover station under the geodetic coordinate system position coordinate respectively according to the space coordinates conversion formula;
Proofread and correct the position coordinate of first rover station under the geodetic coordinate system and the position coordinate of second rover station by the satellite measured deviation.
4. method according to claim 1 is characterized in that, said first rover station and the planimetric position coordinate of second rover station under hoisting crane car body flat-bed two dimensional surface system of axes of obtaining is specially:
First rover station and second rover station are set on the X axle under the said two dimensional surface system of axes, about former point symmetry; Or
First rover station and second rover station are set on the Y axle under the said two dimensional surface system of axes, about former point symmetry.
5. a hoisting crane supporting leg registration device is characterized in that, comprising: first rover station, second rover station, data handler, controller and with the hoisting crane predetermined distance range in the GPS base station that is provided with; Said first rover station and second rover station are arranged on the hoisting crane car body, on first gps antenna that is provided with on said first rover station, said second rover station second gps antenna are set;
Said first rover station; Be used for obtaining the position coordinate of first rover station of measurement in real time from satellite through first gps antenna; The satellite measured deviation that obtains with the GPS base station is proofreaied and correct the position coordinate of first rover station, obtains the accurate position coordinate of first rover station and sends to data handler;
Said second rover station; Be used for obtaining the position coordinate of second rover station of measurement in real time from satellite through second gps antenna; The satellite measured deviation that obtains with the GPS base station is proofreaied and correct the position coordinate of second rover station, obtains the accurate position coordinate of second rover station and sends to data handler;
Said data handler, be used for 3 d space coordinate system down calculating hoisting crane supporting leg the target location respectively with the relative position information of first rover station and second rover station; Obtain first rover station and second rover station planimetric position coordinate under hoisting crane car body flat-bed two dimensional surface system of axes; Planimetric position coordinate and said relative position information by two rover stations obtain the coordinates of targets of four supporting legs under said two dimensional surface system of axes;
Said controller, hoisting crane supporting leg initial coordinate and four supporting legs of the control hoisting crane of the relative distance between the coordinates of targets under said two dimensional surface system of axes that are used for obtaining according to data handler arrive target location separately.
6. device according to claim 5 is characterized in that, also comprises the 3rd gps antenna, and the GPS base station obtains the position coordinate of GPS base station from satellite through the 3rd gps antenna;
Said GPS base station comprises first coordinate transformation unit, is used for will converting the position coordinate under the geodetic coordinate system into from the position coordinate of the GPS base station that satellite obtains according to the space coordinates conversion formula;
Said GPS base station comprises that the satellite measured deviation obtains the unit, is used for the position coordinate of GPS base station under the geodetic coordinate system of the position coordinate geodetic coordinate system under and known GPS base station in advance compared acquisition satellite measured deviation;
Said GPS base station comprises the deviation transmitting element, is used for said satellite measured deviation is sent to first rover station and second rover station.
7. device according to claim 6 is characterized in that, said first rover station comprises the first deviation receiving element, second coordinate transformation unit and the first coordinates correction unit;
The said first deviation receiving element is used to receive the satellite measured deviation that send the GPS base station;
Said second coordinate transformation unit is used for converting the position coordinate of first rover station under the geodetic coordinate system position coordinate according to the space coordinates conversion formula;
The said first coordinates correction unit is used for obtaining accurate position coordinate by the position coordinate of first rover station under the said satellite measured deviation correction geodetic coordinate system.
8. device according to claim 6 is characterized in that, said second rover station comprises the second deviation receiving element, three-dimensional converting unit and the second coordinates correction unit;
The said second deviation receiving element is used to receive the satellite measured deviation that send the GPS base station;
Said three-dimensional converting unit is used for converting the position coordinate of first rover station under the geodetic coordinate system position coordinate according to the space coordinates conversion formula;
The said second coordinates correction unit is used for obtaining accurate position coordinate by the position coordinate of first rover station under the said satellite measured deviation correction geodetic coordinate system.
9. device according to claim 5 is characterized in that, said data processing unit comprises rover station plane coordinates acquiring unit, is used to be provided with first rover station and the X axle of second rover station under said two dimensional surface system of axes, about former point symmetry; Or
Be used to be provided with first rover station and the Y axle of second rover station under said two dimensional surface system of axes, about former point symmetry.
10. according to each described device of claim 5-9; It is characterized in that; Said data handler comprises the 4-coordinate converting unit, is used for converting the target location of hoisting crane supporting leg under the geodetic coordinate system that imports in advance under the 3 d space coordinate system target location.
11. device according to claim 9 is characterized in that, also comprises the GPS read-out, is used to read and browse the target location of hoisting crane supporting leg under 3 d space coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105301666A CN102452617A (en) | 2010-11-02 | 2010-11-02 | Method and device for positioning crane landing leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105301666A CN102452617A (en) | 2010-11-02 | 2010-11-02 | Method and device for positioning crane landing leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102452617A true CN102452617A (en) | 2012-05-16 |
Family
ID=46036368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105301666A Pending CN102452617A (en) | 2010-11-02 | 2010-11-02 | Method and device for positioning crane landing leg |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102452617A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104050869A (en) * | 2014-06-16 | 2014-09-17 | 广州杰赛科技股份有限公司 | GIS map overlay distributed point responding method and system |
| CN104310224A (en) * | 2014-09-05 | 2015-01-28 | 徐州重型机械有限公司 | Engineering machine operation target positioning method and system |
| WO2015135309A1 (en) * | 2014-09-05 | 2015-09-17 | 徐州重型机械有限公司 | Target positioning method and system for construction machine operation |
| CN107074509A (en) * | 2014-10-31 | 2017-08-18 | 株式会社多田野 | Swing arm gesture detection means |
| WO2017177951A1 (en) * | 2016-04-13 | 2017-10-19 | 苏州宝时得电动工具有限公司 | Differential global positioning system and a positioning method therefor |
-
2010
- 2010-11-02 CN CN2010105301666A patent/CN102452617A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104050869A (en) * | 2014-06-16 | 2014-09-17 | 广州杰赛科技股份有限公司 | GIS map overlay distributed point responding method and system |
| CN104050869B (en) * | 2014-06-16 | 2017-01-04 | 广州杰赛科技股份有限公司 | GIS map covering is layouted response method and system |
| CN104310224A (en) * | 2014-09-05 | 2015-01-28 | 徐州重型机械有限公司 | Engineering machine operation target positioning method and system |
| WO2015135309A1 (en) * | 2014-09-05 | 2015-09-17 | 徐州重型机械有限公司 | Target positioning method and system for construction machine operation |
| US10144620B2 (en) | 2014-09-05 | 2018-12-04 | Xuzhou Heavy Machinery Co., Ltd. | Method and system for positioning engineering machinery work objects |
| CN107074509A (en) * | 2014-10-31 | 2017-08-18 | 株式会社多田野 | Swing arm gesture detection means |
| CN107074509B (en) * | 2014-10-31 | 2018-11-30 | 株式会社多田野 | Swing arm gesture detection means |
| WO2017177951A1 (en) * | 2016-04-13 | 2017-10-19 | 苏州宝时得电动工具有限公司 | Differential global positioning system and a positioning method therefor |
| CN113156471A (en) * | 2016-04-13 | 2021-07-23 | 苏州宝时得电动工具有限公司 | Positioning system and positioning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2704614C1 (en) | Flight control system of an unmanned aerial vehicle with differential positioning based on the network cors | |
| CN111392599B (en) | Automatic tower crane control method | |
| US9121939B2 (en) | Self calibration for crane geometry | |
| JP5574726B2 (en) | Raw material yard measuring system for raw material yard, raw material yard measuring method for raw material yard, and computer program | |
| US20160034730A1 (en) | Asset location on construction site | |
| CN102452617A (en) | Method and device for positioning crane landing leg | |
| US20140278076A1 (en) | Determining a crane tilt angle | |
| CN101806906A (en) | Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System) | |
| US9547088B2 (en) | Crane boom pointing angle determination | |
| CN105388494B (en) | A kind of laser ranging localization method applied to RTK receiver | |
| CN108181631A (en) | The mobile ad-hoc network local positioning system and method for a kind of multi-machine collaborative | |
| CN104501801A (en) | Indoor location method | |
| CN108132476A (en) | A kind of engineering machinery hopper alignment system and method | |
| CN112526483A (en) | Three-dimensional laser scanning device integrating spatial positioning and orienting method thereof | |
| CN102998689A (en) | Area judging method based on virtual sensor | |
| CN111060941A (en) | High-precision positioning method and device in shielding environment | |
| EP3190081A1 (en) | Target positioning method and system for construction machine operation | |
| CN102128618A (en) | Active dynamic positioning method | |
| CN207675158U (en) | One kind being based on anallatic inclination measuring device | |
| CN104898146A (en) | Vehicle-mounted positioning device | |
| CN107917693A (en) | One kind is based on anallatic inclination measuring device and measuring method | |
| CN113874736A (en) | Underground line locator system with real-time dynamic global satellite positioning | |
| CN114114361B (en) | Offshore platform precise positioning auxiliary system based on GNSS and working method | |
| CN111913204B (en) | Mechanical arm guiding method based on RTK positioning | |
| CN111076700B (en) | Self-positioning and orientation system and method based on vehicle-mounted theodolite |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120516 |