CN102491181A - Steel freight yard digitalized three-dimensional positioning method based on portal crane positioning - Google Patents
Steel freight yard digitalized three-dimensional positioning method based on portal crane positioning Download PDFInfo
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- CN102491181A CN102491181A CN2011104302897A CN201110430289A CN102491181A CN 102491181 A CN102491181 A CN 102491181A CN 2011104302897 A CN2011104302897 A CN 2011104302897A CN 201110430289 A CN201110430289 A CN 201110430289A CN 102491181 A CN102491181 A CN 102491181A
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Abstract
The invention discloses a steel freight yard digitalized three-dimensional positioning method based on portal crane positioning. The method comprises the following steps of: determining a three-dimensional coordinate system of a steel freight yard; acquiring the coordinate position of a cargo according to position information of a large portal crane vehicle, a small portal crane vehicle and hooks; and acquiring the specific cargo position of the cargo by combining the coordinate position of the cargo and actual freight yard division. According to the steel freight yard digitalized three-dimensional positioning method based on the portal crane positioning, cargoes always correspond to cargo positions, and digitalization of the cargo positions of steel cargoes is realized, so that the cargoes at the appointed cargo positions can be taken quickly, the cargoes can be stored at the appointed cargo positions and searched quickly, and backtracking of the cargoes and the cargo positions is realized during work in a steel freight yard under the condition of unmanned supervision. The method has a wide application prospect in the aspect of tracking and supervising a large quantity of steel substances.
Description
Technical field
The invention belongs to a kind of towards digitized real-time positioning in large material goods yard and positioning control systems such as iron and steel, particularly a kind of iron and steel goods yard digitalisation 3-D positioning method based on gauntry crane location.
Background technology
The CLTS of SUMITOMO CHEMICAL electric corporation, i.e. crane positioning control system, what its adopted is Gray bus exact location detection technique.Gray bus exact location detection technique adopts electromagnetic induction principle to carry out position probing and data communication; With each other near (Gray bus of distance 30~300mm) flats and the EM coupling between the antenna case are carried out work; Be a kind of continuous, contactless absolute fix mode, accuracy of detection can reach 5mm in the time of in fact.It is applied widely to communicate by letter, and functional reliability is high, and antijamming capability is strong, but in many dust, high temperature, high humidity and highly corrosive gaseous environment long-term stable operation.
The driving guide-localization system of Germany LOKE company exploitation can be implemented in line real-time tracking reservoir area driving states and logistics state through driving location and driving states monitoring.What the driving guide-localization system of LOKE company adopted is the laser displacement measurement mode, and survey precision is high, can reach ± 2 millimeters, but measuring distance is subject to focal length, the obstacle of diversing lens, is inappropriate for and measures at a distance.
Researchs such as professor Pan Jingui combine embedded technology to be applied on the tyre crane automatic guidance high-precision GPS location technology.Its research shows that the realization personal vehicle system at first will position tyre crane, obtains the location information of tyre crane in real time.Wherein positioning system using carrier phase difference GPS positions container piling site tyre hoister.The front and back deviation of control tyre crane walking has improved practicality, reliability and the work efficiency of tyre crane under the normal circumstances in ± 100mm.
Aspect the hoisting crane location, also has storehouse crane position fixing system in the 11UKT radioactive curing waste temporary library of Jiangsu Tian Wan nuclear station; Adopting laser rangefinder, PLC and variable-frequency control technique is the control maincenter; Operating personal operational computations machine; To click the mouse and can accomplish the location of position fixing process crane, precision can reach ± and 2 millimeters.The working strength that this system has alleviated the operator is installed, has also been avoided the overdose nuclear radiation
The digital sensor that is used for length and displacement detecting at present has grating sensor and magnetic grid displacement pickup two big classes; And the magnetic grid displacement pickup comprises two kinds of magnetostatic displacement transducer and absolute encoders; Parse the digitalisation displacement information by " quiet magnetic railings ruler ", can export the digitalisation displacement information that is higher than the millimeter magnitude.Its mechanism is just like beam trammel, and magnetic grid encoding array spacing is different with Hall encoding array spacing, and just like the different scales of difference slide rule about the beam trammel, the algorithm of deducing repeatedly through a cover again makes the resolution of magnetostatic displacement transducer can reach 0.2 millimeter.Make full use of the resource of embedded microprocessor, Data Update speed is brought up to a millisecond order of magnitude, so that can adapt to the displacement response that is lower than the 5m/s kinematic velocity.It can be used for direct Measuring Object displacement, and best result is distinguished 0.2 millimeter of Du Keda at present, and maximum range can reach 2km.No matter range how long, as long as guarantee setting accuracy, just can obtain the very little error of indication, and the reliability height, do not receive factor affecting such as external temperature, humidity, stray magnetic field, electromagnetic interference basically.
Nowadays along with the raising gradually of IT application in enterprises level; Storage transport rhythm is accelerated; How under the situation of no supervision, realize specifying goods rapid extraction, the goods in goods yard to be stored in fast specifying the recalling of goods yard, goods goods yard, goods is searched fast is a urgent problem.Can obtain the position of gantry crane, dolly, suspension hook accurately based on methods such as above-mentioned Gray bus exact location detection technique, GPS location technology, magnetostatic displacement transducers; In conjunction with a kind of iron and steel goods yard digitalisation 3-D positioning method of the present invention, be stored in fast and specify the recalling of goods yard, goods goods yard, goods to search problem fast thereby can solve goods rapid extraction, the goods of specifying the goods yard based on gauntry crane location.
Summary of the invention
The purpose of this invention is to provide a kind of under the situation of no supervision; Solve to specify goods rapid extraction, the goods in goods yard to be stored in fast to specify the iron and steel goods yard digitalisation 3-D positioning method of searching fast of the recalling of goods yard, goods goods yard, goods based on the gauntry crane location.
To achieve these goals, the technical scheme that the present invention adopted is:
A kind of iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location, said method comprises the steps:
Confirm the three-dimensional coordinate system in iron and steel goods yard;
Confirm the corresponding relation that three dimensional space and actual goods yard are divided in the said three-dimensional coordinate system;
Obtain the coordinate position of goods in said three-dimensional coordinate system by gantry crane, dolly and the suspension hook location information in said three-dimensional coordinate system;
Coordinate position through goods combines with said actual goods yard division, obtains the position, concrete goods yard of goods.
In one embodiment of the invention, on the basis of the iron and steel goods yard digitalisation 3-D positioning method of locating, realize specifying the goods rapid extraction in goods yard based on gauntry crane.Said implementation procedure comprises the steps: to confirm to treat the goods yard of operation goods; The goods yard is converted into three dimensional space coordinate information; Gantry crane, dolly and suspension hook move to respectively and the corresponding three dimensional space in said goods yard place; The gauntry crane suspension hook goods of slinging, thus realize specifying the goods rapid extraction in goods yard.
In one embodiment of the invention, on basis, realize that goods is stored in fast to specify goods yard, said implementation procedure to comprise the steps: to confirm to prestore to put the goods yard of goods based on the iron and steel goods yard digitalisation 3-D positioning method of gauntry crane location; The goods yard is converted into three dimensional space coordinate information; Gantry crane, dolly and the suspension hook said goods that plays moves to respectively and the corresponding three dimensional space in said goods yard place; The gauntry crane suspension hook puts down goods, thereby realizes that goods is stored in the appointment goods yard fast.
In one embodiment of the invention; On the basis of the iron and steel goods yard digitalisation 3-D positioning method of locating based on gauntry crane; Realize recalling of goods goods yard; Said implementation procedure comprises the steps: based on realizing that goods is stored in when specifying the goods yard the new goods yard of writing down said goods fast; The goods yard transition information of checking goods can date back to goods yard in the past with the goods goods yard.
In one embodiment of the invention, on the basis of the iron and steel goods yard digitalisation 3-D positioning method of locating based on gauntry crane, realize searching fast of goods, said implementation procedure comprises the steps: the definite goods that need search; Check the goods yard transition information of goods, the latest position information of goods is the existing goods yard of goods, thereby realizes searching fast of goods.
Compared with prior art; Iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location of the present invention; Obtain the coordinate position of goods through the location information of gantry crane, dolly, suspension hook; And the coordinate position through goods divides with actual goods yard and combines, and obtains the concrete goods yard of goods, thereby follows the trail of when having realized the three-dimensional coordinate of goods and goods yard.Based on the iron and steel goods yard digitalisation 3-D positioning method based on gauntry crane location of the present invention, fine goods rapid extraction, the goods of specifying the goods yard of having solved is stored in fast and specifies the recalling of goods yard, goods goods yard, goods to search problem fast.
Through following description and combine accompanying drawing, it is more clear that the present invention will become, and these accompanying drawings are used to explain embodiments of the invention.
Description of drawings
Fig. 1 is a principle schematic of the present invention.
Fig. 2 is stored in the principle schematic of specifying the goods yard fast for the present invention realizes goods.
Fig. 3 is the goods yard scheme drawing in coil of strip goods yard in the embodiment of the invention.
Fig. 4 is a diagram of circuit of the present invention.
The specific embodiment
With reference now to accompanying drawing, describes embodiments of the invention in detail.
Goods in the accompanying drawing 1 is represented with coil of strip, and large iron and steel material in iron and steel goods yard can be selected according to different application, for example can be large iron and steel materials such as steel plate.As stated, the invention provides a kind of iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location.Said method comprises the steps:
Confirm the three-dimensional coordinate system in iron and steel goods yard;
Confirm the corresponding relation that three dimensional space and actual goods yard are divided;
Obtain the coordinate position of goods by the location information of gantry crane, dolly and suspension hook;
And
Coordinate position through goods combines with the division of actual goods yard, obtains the concrete goods yard of goods.
Fig. 1 utilizes said method to realize the principle schematic based on the iron and steel goods yard digitalisation three-dimensional localization of gauntry crane location.Said iron and steel goods yard comprises a heap district, a gauntry crane, a rail, a traffic way, and two row's coil of strip goods (the coil of strip diameter is 2 meters).Said iron and steel goods yard can be a plurality of goods yards.The three-dimensional coordinate system in described iron and steel goods yard is the x direction of principal axis with the gantry crane moving direction, i.e. goods yard buttress direction; With gauntry crane dolly moving direction is the y direction of principal axis, i.e. goods yard row direction; Is the z direction of principal axis with the gauntry crane suspension hook perpendicular to ground-surface direction, i.e. goods yard layer direction; The lower left corner of choosing this heap district is the origin of coordinates.The division in size, shape and the actual goods yard of choosing, reach goods of corresponding relation that said three dimensional space and actual goods yard are divided and three-dimensional coordinate system is closely related.In the embodiment that sets forth present principles, under described three-dimensional coordinate system, the corresponding relation that three dimensional space and actual goods yard are divided is following: as shown in Figure 3, establish district, row, buttress, layer; With (i, j, m; N) expression, the three dimensional space coordinate in goods yard is with (x, y; Z) expression, wherein said buttress can be used as a buttress with a coil of strip or the shared position of a plurality of coil of strip, is used as a buttress with 1 shared position of coil of strip in the present embodiment; Then the center position coordinates in goods yard is (2m-mod (n+1,2), 2.8 * j, 2 (n-1) * sin60+1); Then the corresponding relation of each goods yard and three dimensional space point is i=1 (in the present embodiment only a stockyard, be defaulted as stockyard 1), x ∈ (2m-mod (n+1,2)-1; 2m-mod (n+1,2)+1] m wherein, n is a positive integer; Y ∈ (2.8 * j-1.4,2.8 * j+1.4] wherein j be positive integer, z ∈ (0; 1+sin60] when n=1, z ∈ (2n * sin60+1-3 * sin60,2n * sin60+1-sin60] when n be positive integer greater than 1.
The position of said gantry crane is meant chooses any 1 distance (rice) to the yz plane on the gauntry crane, and A point among preferable selection such as Fig. 1 (point on the gauntry crane crossbeam center line) is said point; The position of gauntry crane dolly is meant chooses any 1 distance (rice) to the xz plane on the gauntry crane dolly, and B point (center-point of gauntry crane dolly) is said point among preferable selection such as Fig. 1; The position of gauntry crane suspension hook is meant chooses any 1 distance (rice) to the xy plane on the gauntry crane suspension hook, and C point (point of contact of suspension hook and lifting rope) is said point among preferable selection such as Fig. 1.The position coordinate of said goods is the center-of-gravity position coordinate of this goods.Because the location coordinate information of gantry crane dolly and suspension hook is relevant with the point of choosing; So general run of thins need carry out translation with the position coordinate of gantry crane dolly and suspension hook; And then obtain the coordinate position of goods; As far as the point of selecting in this accompanying drawing, need the value that the selected element C of suspension hook is ordered be deducted 1.1.Can confirm that as being respectively (6,22.4,5.5641) by the position of gantry crane, dolly, suspension hook this moment the concrete goods yard of goods is (1,8,3,3).
Fig. 2 is on the basis based on the iron and steel goods yard digitalisation 3-D positioning method of gauntry crane location; Adopt diagram of circuit shown in Figure 4, realize to specify goods rapid extraction, the goods in goods yard to be stored in fast to specify the recalling of goods yard, goods goods yard, goods to search result of experiment figure fast.Wherein specify the goods that extracts goods yard (1,8,3,3); With cargo storage in the goods yard (1,8,7,1), the new goods yard of writing down goods simultaneously; Check that the previous goods yard that goods goods yard transition information can be known said goods is (1,8,3,3); Check that goods goods yard transition information can know the up-to-date goods yard of said goods, promptly current goods yard, thus rapid extraction, the goods of realizing the fast goods of institute are stored in the recalling of appointment goods yard, goods goods yard fast, goods is searched fast.
The content of not doing detailed description in this specification sheets belongs to professional and technical personnel's known prior art in this area.
Claims (7)
1. the iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location is characterized in that said method comprises the steps:
Confirm the three-dimensional coordinate system in iron and steel goods yard;
Confirm the corresponding relation that three dimensional space and actual goods yard are divided in the said three-dimensional coordinate system;
Obtain the coordinate position in said three-dimensional coordinate system of goods by gantry crane, dolly and the suspension hook location information in said three-dimensional coordinate system;
And
Coordinate position through goods combines with said actual goods yard division, obtains the position, concrete goods yard of goods.
2. the iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location as claimed in claim 1; It is characterized in that; Said goods yard comprises district, row, buttress and layer, and the goods yard is virtual division, and promptly the goods yard has no support; Only be to a kind of division in space, three-dimensional goods yard, do not have concrete shelf.
3. the iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location as claimed in claim 1; It is characterized in that; Said coordinate position through goods is divided with actual goods yard and is combined; Obtain before the concrete goods yard of goods, comprise the corresponding relation of confirming that three dimensional space and actual goods yard are divided.
4. the iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location as claimed in claim 1 is characterized in that, realizes specifying the goods rapid extraction in goods yard to comprise the steps:
Confirm to treat the position, goods yard of operation goods;
The position, goods yard is converted into three dimensional space coordinate information;
Gantry crane, dolly and suspension hook move to respectively and corresponding three dimensional space place, position, said goods yard;
The gauntry crane suspension hook goods of slinging, thus realize specifying the goods rapid extraction in goods yard.
5. the iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location as claimed in claim 1 is characterized in that, realizes that goods is stored in the appointment goods yard fast and comprises the steps:
The position, goods yard of confirming to prestore and putting goods;
The position, goods yard is converted into three dimensional space coordinate information;
Gantry crane, dolly and the suspension hook said goods that plays moves to respectively and corresponding three dimensional space place, position, said goods yard;
The gauntry crane suspension hook puts down goods, thereby realizes that goods is stored in the appointment goods yard fast.
6. like claim 1 or 4 described iron and steel goods yard digitalisation 3-D positioning methods, it is characterized in that, realize that recalling of goods goods yard comprises the steps: based on the gauntry crane location
Realize that goods is stored in when specifying the goods yard the new goods yard of writing down said goods fast;
The goods yard transition information of checking goods can date back to goods yard in the past with the goods goods yard.
7. the iron and steel goods yard digitalisation 3-D positioning method based on the gauntry crane location as claimed in claim 1 is characterized in that, realizes that searching fast of goods comprises the steps:
The goods that definite needs are searched;
Check the goods yard transition information of goods, the latest position information of goods is the existing goods yard of goods, thereby realizes searching fast of goods.
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CN103848345A (en) * | 2012-12-04 | 2014-06-11 | 贵阳铝镁设计研究院有限公司 | Precise positioning method and device of crane lifting hook and aluminum packet lifting ring |
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CN104709696A (en) * | 2014-12-31 | 2015-06-17 | 深圳市进林科技有限公司 | Goods placing and taking method, device and system for tray piling trolley |
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CN104709696A (en) * | 2014-12-31 | 2015-06-17 | 深圳市进林科技有限公司 | Goods placing and taking method, device and system for tray piling trolley |
CN104635695B (en) * | 2015-01-12 | 2017-12-05 | 哥乐巴环保科技(上海)有限公司 | A kind of autocontrol method and system applied to woodworking warehousing system |
CN104635695A (en) * | 2015-01-12 | 2015-05-20 | 哥乐巴环保科技(上海)有限公司 | Automatic control method and system applied to warehousing system of woodworking |
CN105110193A (en) * | 2015-09-21 | 2015-12-02 | 株洲天桥起重机股份有限公司 | Precise positioning and automatic operating integrated system for electrolysis polar plate transport crown block |
CN107067203B (en) * | 2017-01-24 | 2020-07-07 | 华北理工大学 | Garden low-carbon storage method and system |
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CN110488321A (en) * | 2018-05-14 | 2019-11-22 | 北京图森未来科技有限公司 | Positioning system, hatchway cover positioning system and automatic driving control system |
CN110488321B (en) * | 2018-05-14 | 2021-09-03 | 北京图森智途科技有限公司 | Positioning system, cabin cover plate positioning system and automatic driving control system |
CN108750949A (en) * | 2018-06-06 | 2018-11-06 | 莱芜钢铁集团电子有限公司 | A kind of traffic control method and device |
CN109052170A (en) * | 2018-09-30 | 2018-12-21 | 中国水利水电第七工程局有限公司 | A kind of large equipment single hook hauling positioning device and localization method |
CN109335428A (en) * | 2018-11-28 | 2019-02-15 | 苏州耐德新明和工程技术有限公司 | A kind of horizontal displacement layout form of garbage container |
CN110231034A (en) * | 2019-06-10 | 2019-09-13 | 国网江苏省电力有限公司南京供电分公司 | Outdoor stockyard goods and materials indirect positioning methods and Visualization Model |
CN112320601A (en) * | 2020-10-14 | 2021-02-05 | 南京沃旭通讯科技有限公司 | UWB ranging-based crane positioning system and bin management method |
CN113086847A (en) * | 2021-03-22 | 2021-07-09 | 中国铁路广州局集团有限公司 | Method and device for determining state information of gantry crane equipment |
CN113177753A (en) * | 2021-04-21 | 2021-07-27 | 中物(北京)物流信息服务有限公司 | Storage goods space positioning method and system |
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