CN104310224A - Engineering machine operation target positioning method and system - Google Patents
Engineering machine operation target positioning method and system Download PDFInfo
- Publication number
- CN104310224A CN104310224A CN201410452239.2A CN201410452239A CN104310224A CN 104310224 A CN104310224 A CN 104310224A CN 201410452239 A CN201410452239 A CN 201410452239A CN 104310224 A CN104310224 A CN 104310224A
- Authority
- CN
- China
- Prior art keywords
- arm
- rover station
- luffing angle
- scope
- degreeof turn
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/082—Control of the secondary movements, e.g. travelling, slewing, luffing of the jib, changing of the range
Abstract
The invention discloses an engineering machine operation target positioning method and system. The method comprises the following steps: (1) a reference station collects the satellite positioning information in real time as the current measured value D0, and then sends the D0 to a first moving station and a second moving station; (2) the first moving station and the second moving station individually collects the satellite positioning information in real time as the current measured value D1 and D2, and then a realtime dynamic differential treatment is carried out on between D0 and D1 and between D0 and D2 respectively so as to obtain the relative coordinate information of the first moving station and the second moving station; (3) a crane calculation unit determines the extend length, pitch angle, and rotation angle of a lifting arm according to the relative coordinate information of the first moving station and the second moving station; (4) finally the crane controls the lifting arm to move to the lifting position of an object to be lifted and lift the object according to the calculated extend length, pitch angle, and rotation angle of the lifting arm. The provided method and system can largely improve the precision of positioning on operation target, moreover the lifting arm is automatically traced, and the error and risk brought by eyeballing are avoided.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of engineer machinery operation object localization method and system.
Background technology
In the construction operation process of hoisting crane, especially at a distance during lifting or when crossing the working condition of certain obstacle, due to the error of operator's vision, accurately cannot judge the accurate location of suspended object.If suspended object and crane hook have deviation in vertical direction, there will be the infringement that " askew skewing is dragged " phenomenon causes hoisting crane, even cause overthrow accident.
The current lifting for large and heavy objects, often needs the careful prospecting through scene, measuring and calculating.Estimate the operating mode such as arm spread length, arm luffing angle in advance.And at operation field, also need by field staff's command scheduling, complete lifting work by means of the range estimation of operator and experience.Field operation, often needs multi-person synergy, repeatedly adjusts, and increases uncertainty and the lifting time of work.Especially, when the complex working condition such as night, sleety weather, the signalman difficulty of field staff is further increased.
In prior art, mainly contain following two shortcomings:
The first, the wireless location accuracy of object point is low.Because high precision wireless locates not opening, only have civilian pseudo-code available, object location precision is about 10 meters, when calculating arm spread length, arm luffing angle and actual size error excessive, accurately cannot judge the accurate location of suspended object.If suspended object and crane hook have deviation in vertical direction, there will be the infringement that " askew skewing is dragged " phenomenon causes hoisting crane, even cause overthrow accident.
The second, arm performs an action indefinite.In existing scheme, performing an action of arm main relies on field staff's command scheduling, completes by means of the range estimation of operator and experience.When lifting or cross the working condition of certain obstacle at a distance, due to the error of operator's vision, the accurate location of suspended object accurately cannot be judged.Sling height and lifting angle increase risk with range estimation and micro-judgment entirely.
Summary of the invention
In view of above technical matters, the invention provides a kind of engineer machinery operation object localization method and system, adopt real time dynamic differential method of measurement, greatly can improve the positioning precision of operative goals.
According to an aspect of the present invention, a kind of engineer machinery operation object localization method is provided, comprises:
Base station Real-time Collection satellite positioning information is as current measurement value D0, and D0 is sent to the first rover station and the second rover station, wherein base station is arranged on crane rotation axle center, and the first rover station is arranged on hanging object lifting position, and the second rover station is arranged on hoisting crane headstock place;
First rover station Real-time Collection satellite positioning information, as current measurement value D1, carries out real time dynamic differential process to obtain the relative co-ordinate information of the first rover station to D0 and D1, and the relative co-ordinate information of the first rover station is sent to hoisting crane solving unit;
Second rover station Real-time Collection satellite positioning information, as current measurement value D2, carries out real time dynamic differential process to obtain the relative co-ordinate information of the second rover station to D0 and D2, and the relative co-ordinate information of the second rover station is sent to hoisting crane solving unit;
Hoisting crane solving unit is according to the relative co-ordinate information determination arm spread length of the relative co-ordinate information of the first rover station, the second rover station, arm luffing angle and arm degreeof turn;
Crane controller is according to described arm spread length, arm luffing angle and arm degreeof turn, and control arm runs to described hanging object lifting position and lifts by crane described hanging object.
In one embodiment of the invention, after hoisting crane solving unit is according to the step of the relative co-ordinate information determination arm spread length of the relative co-ordinate information of the first rover station, the second rover station, arm luffing angle and arm degreeof turn, also comprise:
Judge described arm spread length, arm luffing angle and arm degreeof turn whether within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn;
If described arm spread length, arm luffing angle and arm degreeof turn be not within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, then output alarm information;
If described arm spread length, arm luffing angle and arm degreeof turn are within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, then walking crane controller is according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the step that described hanging object is lifted by crane in described hanging object lifting position.
In one embodiment of the invention, hoisting crane solving unit comprises according to the step of the relative co-ordinate information determination arm spread length of the relative co-ordinate information of the first rover station, the second rover station, arm luffing angle and arm degreeof turn:
Hoisting crane solving unit is according to the relative co-ordinate information determination arm spread length of the first rover station and arm luffing angle;
The relative co-ordinate information of hoisting crane solving unit according to the first rover station, the relative co-ordinate information determination arm degreeof turn of the second rover station.
In one embodiment of the invention, crane controller, according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the step of lifting by crane described hanging object in described hanging object lifting position and comprise:
Run in the process of described hanging object lifting position controlling arm, judge current arm luffing angle that principal arm angular transducer collects whether within the scope of predetermined arm luffing angle;
If current arm luffing angle within the scope of predetermined arm luffing angle, does not then carry out amplitude change, current arm luffing angle is adjusted within the scope of predetermined arm luffing angle;
If current arm luffing angle is within the scope of predetermined arm luffing angle, then judge that the current degreeof turn that degreeof turn coder collects judges whether within the scope of predetermined arm degreeof turn;
If current degreeof turn is not within the scope of predetermined arm degreeof turn, then rotary suspension arm, current degreeof turn is adjusted within the scope of predetermined arm degreeof turn;
If current degreeof turn is within the scope of predetermined arm degreeof turn, then judge that linear transducer collects current collapsing length whether in predetermined arm spread length;
If current collapsing length is not in predetermined arm spread length, then telescopic jib, current collapsing length is adjusted within the scope of predetermined arm spread length;
If current collapsing length in predetermined arm spread length, then lifts by crane described hanging object.
In one embodiment of the invention, described method also comprises: known base station precision coordinate is sent to the first rover station and the second rover station by base station; First rover station obtains the first rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the first rover station, and sends to hoisting crane solving unit; Second rover station obtains the second rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the second rover station, and sends to hoisting crane solving unit.
According to a further aspect in the invention, a kind of engineer machinery operation object locating system is provided, comprise base station, the first rover station, the second rover station, hoisting crane solving unit and crane controller, wherein base station is arranged on crane rotation axle center, first rover station is arranged on hanging object lifting position, second rover station is arranged on hoisting crane headstock place, wherein:
Base station, for Real-time Collection satellite positioning information as current measurement value D0, and sends to the first rover station and the second rover station by D0;
First rover station, for Real-time Collection satellite positioning information as current measurement value D1, real time dynamic differential process is carried out to obtain the relative co-ordinate information of the first rover station to D0 and D1, and the relative co-ordinate information of the first rover station is sent to hoisting crane solving unit;
Second rover station, for Real-time Collection satellite positioning information as current measurement value D2, real time dynamic differential process is carried out to obtain the relative co-ordinate information of the second rover station to D0 and D2, and the relative co-ordinate information of the second rover station is sent to hoisting crane solving unit;
Hoisting crane solving unit, for the relative co-ordinate information determination arm spread length of the relative co-ordinate information according to the first rover station, the second rover station, arm luffing angle and arm degreeof turn;
Crane controller, for according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to described hanging object lifting position and lift by crane described hanging object.
In one embodiment of the invention, hoisting crane solving unit, also for after the relative co-ordinate information determination arm spread length of the relative co-ordinate information according to the first rover station, the second rover station, arm luffing angle and arm degreeof turn, judges described arm spread length, arm luffing angle and arm degreeof turn whether within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn; When described arm spread length, arm luffing angle and arm degreeof turn are not within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, output alarm information; And when described arm spread length, arm luffing angle and arm degreeof turn are within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, instruction crane controller performs according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the operation that described hanging object is lifted by crane in described hanging object lifting position.
In one embodiment of the invention, hoisting crane solving unit comprises first and resolves module and second and resolve module, wherein:
First resolves module, for according to the relative co-ordinate information determination arm spread length of the first rover station and arm luffing angle;
Second resolves module, for the relative co-ordinate information determination arm degreeof turn of the relative co-ordinate information according to the first rover station, the second rover station.
In one embodiment of the invention, crane controller comprises the first identification module, the second identification module, the 3rd identification module, execution module, wherein:
First identification module, for judging current arm luffing angle that principal arm angular transducer collects whether within the scope of predetermined arm luffing angle;
Second identification module, for the judged result according to the first identification module, current arm luffing angle in predetermined arm luffing angle scope time, judge that the current degreeof turn that degreeof turn coder collects judges whether within the scope of predetermined arm degreeof turn;
3rd identification module, for the judged result according to the second identification module, when current degreeof turn is within the scope of predetermined arm degreeof turn, judges that linear transducer collects current collapsing length whether in predetermined arm spread length;
Execution module, for the judged result according to the first identification module, when current arm luffing angle is not within the scope of predetermined arm luffing angle, carries out amplitude change, to adjust within the scope of predetermined arm luffing angle by current arm luffing angle; According to the judged result of the second identification module, when current degreeof turn is not within the scope of predetermined arm degreeof turn, rotary suspension arm, to adjust to current degreeof turn within the scope of predetermined arm degreeof turn; According to the judged result of the 3rd identification module, when current collapsing length is not in predetermined arm spread length, telescopic jib, to adjust to current collapsing length within the scope of predetermined arm spread length, and when current collapsing length is in predetermined arm spread length, lift by crane described hanging object.
In one embodiment of the invention, base station is also for sending to the first rover station and the second rover station by known base station precision coordinate; First rover station also for obtaining the first rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the first rover station, and sends to hoisting crane solving unit; Second rover station also for obtaining the second rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the second rover station, and sends to hoisting crane solving unit.
The present invention, by real time dynamic differential method of measurement, can improve the positioning precision of operative goals greatly; Adopt arm from motion tracking simultaneously, automatically can adjust sling height, arm pitching height, arm spread length in lifting process in preset range, avoid the error and risk estimating and adjust and bring.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of an engineer machinery operation object localization method of the present invention embodiment.
Fig. 2 is the scheme of installation of base station and rover station in one embodiment of the invention.
Fig. 3 is the schematic diagram of hoisting crane solving unit determination arm spread length, arm luffing angle and arm degreeof turn in one embodiment of the invention.
Fig. 4 is that in one embodiment of the invention, crane controller control arm runs to the schematic diagram that described hanging object is lifted by crane in described hanging object lifting position.
Fig. 5 is the schematic diagram of base station and rover station determination rover station coordinate in one embodiment of the invention.
Fig. 6 is the schematic diagram of another embodiment of engineer machinery operation object localization method of the present invention.
Fig. 7 is the schematic diagram of the another embodiment of engineer machinery operation object localization method of the present invention.
Fig. 8 is the schematic diagram of an engineer machinery operation object localization method of the present invention embodiment again.
Fig. 9 is the schematic diagram of an engineer machinery operation object locating system of the present invention embodiment.
Figure 10 is the schematic diagram of another embodiment of engineer machinery operation object locating system of the present invention.
Figure 11 is the schematic diagram of crane controller in one embodiment of the invention.
Figure 12 is the schematic diagram of the another embodiment of engineer machinery operation object locating system of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification sheets.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Fig. 1 is the schematic diagram of an engineer machinery operation object localization method of the present invention embodiment.Preferably, the present embodiment can be performed by engineer machinery operation object locating system of the present invention, as shown in Figure 1, said method comprising the steps of:
Step 102, D0 as current measurement value D0, and is sent to the first rover station and the second rover station by base station Real-time Collection satellite positioning information.Wherein, as shown in Figure 2, base station is arranged on crane rotation axle center, and the first rover station is arranged on hanging object lifting position, and the second rover station is arranged on hoisting crane headstock place.
Wherein, base station refers to be used as the instrument of fixed station, and it is with foot rest erection for another instrument flow station, fixed.Need a satellite positioning system receiver to be placed on reference station (base station) during operation to observe, known survey station precision coordinate and the satellites information received directly or are after treatment sent to rover station receiver (point to be located) by base station in real time.Rover station is relative datum station, and rover station receiver, while carrying out GPS observation, also receives the information of base station, through correcting result,
Thus raising positioning precision.
Preferably, described satellite location data can be the satellite location data from satellite navigation systems such as Chinese Beidou satellite navigation system, GPS of America and Russian GLONASS (GPS), European Galilean satellite position fixing systems.
Step 104, first rover station Real-time Collection satellite positioning information is as current measurement value D1, real time dynamic differential process is carried out to obtain the relative co-ordinate information R1 of the first rover station to D0 and D1, and the relative co-ordinate information R1 of the first rover station is sent to hoisting crane solving unit.
In one embodiment of the invention, the present invention adopts RTK (Real-time kinematic, real time dynamic differential method) GPS method of measurement, determines the accurate relative position of testee (rover station) and base station.Wherein RTK is the method for measurement that can obtain Centimeter Level positioning precision in the wild in real time.RTK location technology is exactly the real time kinematic survey system based on carrier phase observation data, it can provide the three-dimensional localization result of survey station point in specified coordinate system in real time, and reaches Centimeter Level precision (relevant with gps satellite quantity, atmospheric ionized layer, gps antenna gain).
Under RTK work pattern, base station sends its observed value (GPS collection value) and survey station coordinate information to rover station together by Data-Link.Rover station is not received from the data of base station by means of only data link, also will gather GPS observed data, and in system, forms difference observed value process in real time, provides positioning result simultaneously, lasts less than a second.Rover station can remain static, and also can be kept in motion; Enter dynamic job again after first can carrying out initialization on attachment point, also can directly start shooting in a dynamic condition, and complete the search finding of integer ambiguity under dynamic environment.After integral cycle unknown solution is fixing, can carry out the real-time process of each epoch, as long as can keep the tracking of more than four Satellite Phase observed values and necessary geometric figure, then rover station can provide Centimeter Level positioning result at any time.
In one embodiment of the invention, GPS selects dual-frequency receiver, can receive two-way carrier signal simultaneously.Utilize different to ionosphere delay of double frequency, can eliminate the impact of ionosphere on the delay of electromagnetic wave signal, therefore dual-frequency receiver can be used for the precise placement reaching several thousand kilometers.
In one embodiment of the invention, the relative co-ordinate information R1 of the first rover station is sent to hoisting crane solving unit by wireless data sending by the first rover station.Wherein, wireless data sending and Wireless Data Transmission, be communications platform with wireless network, provide the RS-232/485/TTL interface of standard, according to industrial standard design, can directly and the lower computer equipment connection of the various industry spot such as RTU, PLC, intelligent instrument, singlechip controller.The serial communication of industrial RS232/RS485 serial equipment can be allowed to be converted to the bi-directional conversion data transmission set of GPRS wireless communication immediately.
Step 106, second rover station Real-time Collection satellite positioning information is as current measurement value D2, real time dynamic differential process is carried out to obtain the relative co-ordinate information of the second rover station to D0 and D2, and the relative co-ordinate information R2 of the second rover station is sent to hoisting crane solving unit.
In one embodiment of the invention, the relative co-ordinate information R2 of the second rover station is sent to hoisting crane solving unit by CAN by the second rover station.
Step 108, hoisting crane solving unit determines arm spread length, arm luffing angle and arm degreeof turn according to the relative co-ordinate information R1 of the first rover station, the relative co-ordinate information R2 of the second rover station.
In one embodiment of the invention, solving unit can adopt flush bonding processor, runs real time operating system (RTOS).The integrated CAN controller of hoisting crane solving unit, UART serial port unit, SPI interface etc., directly can be connected with base station.
Step 110, crane controller is according to described arm spread length, arm luffing angle and arm degreeof turn, and control arm runs to described hanging object lifting position and lifts by crane described hanging object.
Based on the engineer machinery operation object localization method that the above embodiment of the present invention provides, by RTK (Real-time kinematic, real time dynamic differential method) method of measurement, the relative position between fixed point is determined according to the observed data of more than two receivers, i.e. reference for installation station on hoisting crane, observed value D0 is sent to the receiver on lifting thing, lifting thing receiver collects location information D1, and Difference Calculation is carried out to D0 and D1, accurately can calculate the distance of hoisting crane and lifting thing, greatly can improve the positioning precision of operative goals thus, precision can reach 1 ~ 2cm.
In one embodiment of the invention, as shown in Figure 3, step 108 can comprise:
Step 302, hoisting crane solving unit determines arm spread length and arm luffing angle according to the relative co-ordinate information R1 of the first rover station.
Preferably, as shown in Figure 2, hoisting crane solving unit is at the relative coordinate of acquisition first rover station (stand A) and the current arm of hoisting crane after angle, and the constraint condition (as: sling height scope, arm pitching altitude range) according to user's input calculates suitable arm spread length and luffing angle.
Step 304, hoisting crane solving unit determines arm degreeof turn according to the relative co-ordinate information R1 of the first rover station, the relative co-ordinate information R2 of the second rover station.
Preferably, as shown in Figure 2, hoisting crane solving unit can pass through the relative position coordinates between location first and second rover station (stand A and station B), can determine the degreeof turn of hoisting crane.
Base station is fixed on the circle centre position of crane rotation axle by the above embodiment of the present invention, can avoid because the motion planning mistake (arm spread length, luffing angle) caused compared with big error to vehicle body directional survey.Meanwhile, the second rover station (stand B) is installed for auxiliary positioning headstock angle at the headstock place of hoisting crane, to determine degreeof turn.Thus, when vehicle body directional survey error is larger, when practical operation, only need to adjust degreeof turn.
In one embodiment of the invention, after step 108 as shown in Figure 1, described method can also comprise:
Judge described arm spread length, arm luffing angle and arm degreeof turn whether within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn;
If described arm spread length, arm luffing angle and arm degreeof turn be not within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, then output alarm information;
If described arm spread length, arm luffing angle and arm degreeof turn are within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, then described arm spread length, arm luffing angle and arm degreeof turn are sent to crane controller by CAN, and perform step 110 as shown in Figure 1.
The above embodiment of the present invention, in solving unit acquired value, in set constraint condition, outer or hoisting crane itself cannot move the lifting position of A of arriving at a station, then solving unit is by output alarm information.Hoisting crane fault can be avoided thus, and operator's hoisting crane itself automatically can be reminded to move arrive at a station the lifting position of A.
In one embodiment of the invention, as shown in Figure 4, the step 110 as shown in Figure 1 in embodiment can comprise:
Step 402, runs in the process of described hanging object lifting position controlling arm, judges current arm luffing angle that principal arm angular transducer collects whether within the scope of predetermined arm luffing angle.If current arm luffing angle is not within the scope of predetermined arm luffing angle, then perform step 404; Otherwise, if current arm luffing angle is within the scope of predetermined arm luffing angle, then perform step 406.
Preferably, described predetermined arm luffing angle scope refers to the error limit of the described arm luffing angle of user's setting, and wherein said arm luffing angle is that described hoisting crane solving unit is determined.
Step 404, carries out amplitude change, afterwards repeated execution of steps 402, to be adjusted within the scope of predetermined arm luffing angle by current arm luffing angle.
Step 406, judges that the current degreeof turn that degreeof turn coder collects judges whether within the scope of predetermined arm degreeof turn.If current degreeof turn is not within the scope of predetermined arm degreeof turn, then perform step 408; Otherwise, if current degreeof turn is within the scope of predetermined arm degreeof turn, then perform step 410.
Preferably, described predetermined degreeof turn scope refers to the error limit of the described arm degreeof turn of user's setting, and wherein said degreeof turn is that described hoisting crane solving unit is determined.
Step 408, rotary suspension arm, afterwards repeated execution of steps 406, to adjust to current degreeof turn within the scope of predetermined arm degreeof turn.
Step 410, judges that linear transducer collects current collapsing length whether in predetermined arm spread length.If current collapsing length is not in predetermined arm spread length, then perform step 412; Otherwise, if current collapsing length is in predetermined arm spread length, then perform step 414.
Preferably, described predetermined arm spread length scope refers to the error limit of the described arm spread length of user's setting, and wherein said arm spread length is that described hoisting crane solving unit is determined.
Step 412, telescopic jib, to be adjusted to by current collapsing length within the scope of predetermined arm spread length, no longer performs other step of the present embodiment afterwards.
Step 414, control arm runs to described hanging object lifting position and lifts by crane described hanging object.
The location information that the above embodiment of the present invention selects hoisting crane clearing unit to collect according to receiver calculates, and crane controller determines that in the error limit that user sets sling height, arm pitching height, arm spread length etc. have carried out lifting process simultaneously.
In one embodiment of the invention, in the step 102 shown in Fig. 1, described method can also comprise: known base station precision coordinate d0 is sent to the first rover station and the second rover station by base station.
In the step 104 shown in Fig. 1, described method can also comprise: the first rover station obtains the first rover station precision coordinate d1 according to the relative co-ordinate information R1 of base station precision coordinate d0 and the first rover station, and send to hoisting crane solving unit, to show described first rover station precision coordinate d1.
In the step 106 shown in Fig. 1, described method can also comprise: the second rover station obtains the second rover station precision coordinate d2 according to the relative co-ordinate information R2 of base station precision coordinate d0 and the second rover station, and send to hoisting crane solving unit, to show described second rover station precision coordinate d2.
Can also determine and show the first rover station precision coordinate d1 and the second rover station precision coordinate d2 by the above embodiment of the present invention.
Fig. 5 is the schematic diagram that in one embodiment of the invention, base station and the first rover station determine the first flowing station coordinates.As shown in Figure 5, described method comprises:
Step 501, base station Real-time Collection satellite positioning information is as current measurement value D0.
Step 502, the first rover station Real-time Collection satellite positioning information is as current measurement value D1.
Preferably, the order of step 501 and step 502 can be exchanged.
Step 503, D0 and known base station precision coordinate d0 is sent to the first rover station by base station.
Step 504, the first rover station carries out real time dynamic differential process to obtain the relative co-ordinate information R1 of the first rover station to D0 and D1.
Step 505, the first rover station determines the accurate coordinates d1 of the first rover station according to d0 and R1.
Step 506, R1 and d1 sends to hoisting crane to start at unit by the first rover station.
In the above embodiment of the present invention, base station and the second rover station determine that the diagram of circuit of the second flowing station coordinates is identical with the flow process described in Fig. 5, no longer describe in detail here.
In the above embodiment of the present invention, R1 and d1 sends to hoisting crane to start at unit by the first rover station, the second rover station R2 and d2 is sent to hoisting crane start at unit after perform embodiment illustrated in fig. 1 in step 108 and step 110.
In embodiment described in Fig. 1-Fig. 5, base station gathers observed reading D0 and sends to rover station, and rover station carries out real time dynamic differential and calculates acquisition rover station relative coordinate, and determines rover station accurate coordinates, thus reduces the performance requriements to base station.
Fig. 6 is the schematic diagram of another embodiment of engineer machinery operation object localization method of the present invention.Described method comprises:
Step 601, base station Real-time Collection satellite positioning information is as current measurement value D0.
Step 602, the first rover station Real-time Collection satellite positioning information is as current measurement value D1.
Preferably, the order of step 601 and step 602 can be exchanged.
Step 603, D1 is sent to base station by the first rover station.
Step 604, base station carries out real time dynamic differential process to obtain the relative co-ordinate information R1 of the first rover station to D0 and D1.
Step 605, base station determines the accurate coordinates d1 of the first rover station according to R1 and known base station accurate coordinates d0.
Step 606, R1 and d1 sends to hoisting crane to start at unit by base station.
In the above embodiment of the present invention, base station and the second rover station determine that the diagram of circuit of the second flowing station coordinates is identical with the flow process described in Fig. 6, no longer describe in detail here.
In the above embodiment of the present invention, R1 and d1 sends to hoisting crane to start at unit by the first rover station, the second rover station R2 and d2 is sent to hoisting crane start at unit after perform embodiment illustrated in fig. 1 in step 108 and step 110.
The difference of the embodiment shown in the embodiment shown in Fig. 6 and Fig. 5 is mainly: real time dynamic differential calculates and obtains rover station relative coordinate and determine that the step of rover station accurate coordinates is performed by base station, thus reduces the performance requriements to rover station.Meanwhile, the signal between the first rover station and hoisting crane is mutual for once, i.e. step 603, also improves system effectiveness thus.
Fig. 7 is the schematic diagram of the another embodiment of engineer machinery operation object localization method of the present invention.Described method comprises:
Step 701, base station Real-time Collection satellite positioning information is as current measurement value D0.
Step 702, the first rover station Real-time Collection satellite positioning information is as current measurement value D1.
Step 703, base station determines correction k according to D0 and known base station precision coordinate d0.
Preferably, before step 702 also can be placed on step 701, or after being placed on step 703.
Step 704, d0 and k is sent to the first rover station by base station.
Step 705, the first rover station determines the accurate coordinates d1 of the first rover station according to D1 and k.
Step 706, the first rover station determines the relative co-ordinate information R1 of the first rover station according to d0 and d1.
Step 707, R1 and d1 sends to hoisting crane to start at unit by the first rover station.
In the above embodiment of the present invention, base station and the second rover station determine that the diagram of circuit of the second flowing station coordinates is identical with the flow process described in Fig. 7, no longer describe in detail here.
In the above embodiment of the present invention, R1 and d1 sends to hoisting crane to start at unit by the first rover station, the second rover station R2 and d2 is sent to hoisting crane start at unit after perform embodiment illustrated in fig. 1 in step 108 and step 110.
Embodiment shown in embodiment shown in Fig. 7 and Fig. 5 is similar, its difference is mainly: base station is according to base station observed reading and known base station precision coordinate determination correction, and correction is sent to rover station, rover station is by correction and rover station observed reading determination rover station precision coordinate.
Fig. 8 is the schematic diagram of an engineer machinery operation object localization method of the present invention embodiment again.Described method comprises:
Step 801, base station Real-time Collection satellite positioning information is as current measurement value D0.
Step 802, the first rover station Real-time Collection satellite positioning information is as current measurement value D1.
Step 803, base station determines correction k according to D0 and known base station precision coordinate d0.
Preferably, before step 802 also can be placed on step 801, or after being placed on step 803.
Step 804, D1 is sent to base station by the first rover station.
Step 805, base station determines the accurate coordinates d1 of the first rover station according to D1 and k.
Step 806, base station determines the relative co-ordinate information R1 of the first rover station according to d0 and d1.
Step 807, R1 and d1 sends to hoisting crane to start at unit by base station.
In the above embodiment of the present invention, base station and the second rover station determine that the diagram of circuit of the second flowing station coordinates is identical with the flow process described in Fig. 8, no longer describe in detail here.
In the above embodiment of the present invention, R1 and d1 sends to hoisting crane to start at unit by the first rover station, the second rover station R2 and d2 is sent to hoisting crane start at unit after perform embodiment illustrated in fig. 1 in step 108 and step 110.
Embodiment shown in embodiment shown in Fig. 8 and Fig. 7 is similar, and its difference is mainly: real time dynamic differential calculates and obtains rover station relative coordinate and determine that the step of rover station accurate coordinates is performed by base station, thus reduces the performance requriements to rover station.Meanwhile, the signal between rover station and hoisting crane is mutual for once, i.e. step 804, also improves system effectiveness thus.
Fig. 9 is the schematic diagram of an engineer machinery operation object locating system of the present invention embodiment.As shown in Figure 9, shown engineer machinery operation object locating system comprises base station 901, first rover station 902, second rover station 903, hoisting crane solving unit 904 and crane controller 905, wherein base station 901 is arranged on crane rotation axle center, first rover station 902 is arranged on hanging object lifting position, second rover station 903 is arranged on hoisting crane headstock place, wherein:
Base station 901, for Real-time Collection satellite positioning information as current measurement value D0, and sends to the first rover station 902 and the second rover station 903 by D0.
First rover station 902, for Real-time Collection satellite positioning information as current measurement value D1, real time dynamic differential process is carried out to obtain the relative co-ordinate information R1 of the first rover station 902 to D0 and D1, and the relative co-ordinate information R1 of the first rover station 902 is sent to hoisting crane solving unit 904.
Second rover station 903, for gathering satellite carrier phase measurement D2, real time dynamic differential process is carried out to obtain the relative co-ordinate information R2 of the second rover station 903 to D0 and D2, and the relative co-ordinate information R2 of the second rover station 903 is sent to hoisting crane solving unit 904.
Hoisting crane solving unit 904, the relative co-ordinate information R2 for the relative co-ordinate information R1 according to the first rover station 902, the second rover station 903 determines arm spread length, arm luffing angle and arm degreeof turn.
Crane controller 905, for according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to described hanging object lifting position and lift by crane described hanging object.
Based on the engineer machinery operation object localization method that the above embodiment of the present invention provides, by RTK method of measurement, the relative position between fixed point is determined according to the observed data of more than two receivers, i.e. reference for installation station on hoisting crane, observed value D0 is sent to the receiver on lifting thing, lifting thing receiver collects location information D1, and Difference Calculation is carried out to D0 and D1, accurately can calculate the distance of hoisting crane and lifting thing, greatly can improve the positioning precision of operative goals thus, precision can reach 1 ~ 2cm.
In one embodiment of the invention, hoisting crane solving unit 904, also for after determining arm spread length, arm luffing angle and arm degreeof turn at the relative co-ordinate information R2 of the relative co-ordinate information R1 according to the first rover station 902, the second rover station 903, judges described arm spread length, arm luffing angle and arm degreeof turn whether within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn; When described arm spread length, arm luffing angle and arm degreeof turn are not within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, output alarm information; And when described arm spread length, arm luffing angle and arm degreeof turn are within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, instruction crane controller 905 performs according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the operation that described hanging object is lifted by crane in described hanging object lifting position.
The above embodiment of the present invention, in solving unit acquired value, in set constraint condition, outer or hoisting crane itself cannot move the lifting position of A of arriving at a station, then solving unit is by output alarm information.Hoisting crane fault can be avoided thus, and operator's hoisting crane itself automatically can be reminded to move arrive at a station the lifting position of A.
In one embodiment of the invention, as shown in Figure 10, hoisting crane solving unit 904 can comprise first and resolve module 9041 and second and resolve module 9042, wherein:
First resolves module 9041, for determining arm spread length and arm luffing angle according to the relative co-ordinate information R1 of the first rover station 902.
Second resolves module 9042, and the relative co-ordinate information R2 for the relative co-ordinate information R1 according to the first rover station 902, the second rover station 903 determines arm degreeof turn.
Base station is fixed on the circle centre position of crane rotation axle by the above embodiment of the present invention, can avoid because the motion planning mistake (arm spread length, luffing angle) caused compared with big error to vehicle body directional survey.Meanwhile, the second rover station (stand B) is installed for auxiliary positioning headstock angle at the headstock place of hoisting crane, to determine degreeof turn.Thus, when vehicle body directional survey error is larger, when practical operation, only need to adjust degreeof turn.
In one embodiment of the invention, as shown in figure 11, crane controller 905 can comprise the first identification module 9051, second identification module 9052, the 3rd identification module 9053, execution module 9054, wherein:
First identification module 9051, for judging current arm luffing angle that principal arm angular transducer collects whether within the scope of predetermined arm luffing angle.
Second identification module 9052, for the judged result according to the first identification module, current arm luffing angle in predetermined arm luffing angle scope time, judge that the current degreeof turn that degreeof turn coder collects judges whether within the scope of predetermined arm degreeof turn.
3rd identification module 9053, for the judged result according to the second identification module, when current degreeof turn is within the scope of predetermined arm degreeof turn, judges that linear transducer collects current collapsing length whether in predetermined arm spread length.
Execution module 9054, for the judged result according to the first identification module, when current arm luffing angle is not within the scope of predetermined arm luffing angle, carries out amplitude change, to adjust within the scope of predetermined arm luffing angle by current arm luffing angle; According to the judged result of the second identification module, when current degreeof turn is not within the scope of predetermined arm degreeof turn, rotary suspension arm, to adjust to current degreeof turn within the scope of predetermined arm degreeof turn; According to the judged result of the 3rd identification module, when current collapsing length is not in predetermined arm spread length, telescopic jib, to adjust to current collapsing length within the scope of predetermined arm spread length, and when current collapsing length is in predetermined arm spread length, lift by crane described hanging object.
The location information that the above embodiment of the present invention selects hoisting crane clearing unit to collect according to receiver calculates, and crane controller determines that in the error limit that user sets sling height, arm pitching height, arm spread length etc. have carried out lifting process simultaneously.
In one embodiment of the invention, base station 901 is also for sending to the first rover station 902 and the second rover station 903 by known base station 901 precision coordinate d0.
First rover station 902 also for obtaining the first rover station precision coordinate d1 according to the relative co-ordinate information R1 of base station 901 precision coordinate d0 and the first rover station 902, and sends to hoisting crane solving unit 904, to show described first rover station precision coordinate d1.
Second rover station 903 also for obtaining the second rover station precision coordinate d2 according to the relative co-ordinate information R2 of base station 901 precision coordinate d0 and the second rover station 903, and sends to hoisting crane solving unit 904, to show described second rover station precision coordinate d2.
Can also determine and show the first rover station precision coordinate d1 and the second rover station precision coordinate d2 by the above embodiment of the present invention.
In one embodiment of the invention, corresponding with the embodiment shown in Fig. 7, base station 901, can be used for Real-time Collection satellite positioning information as current measurement value D0, determine correction k according to D0 and known base station precision coordinate d0, and d0 and k is sent to the first rover station 902 and the second rover station 903.
First rover station 902, can be used for Real-time Collection satellite positioning information as current measurement value D1, the accurate coordinates d1 of the first rover station is determined according to D1 and k, determine the relative co-ordinate information R1 of the first rover station according to d0 and d1, and the relative co-ordinate information R1 of the first rover station 902 and accurate coordinates d1 is sent to hoisting crane solving unit 904.
Second rover station 903, can be used for gathering satellite carrier phase measurement D2, the accurate coordinates d2 of the second rover station is determined according to D2 and k, determine the relative co-ordinate information R2 of the second rover station according to d0 and d2, and the relative co-ordinate information R2 of the second rover station 903 and accurate coordinates d2 is sent to hoisting crane solving unit 904.
The above embodiment of the present invention and difference embodiment illustrated in fig. 9 are, in the present embodiment, base station is according to base station observed reading and known base station precision coordinate determination correction, and correction is sent to rover station, rover station is by correction and rover station observed reading determination rover station precision coordinate.
Figure 12 is the schematic diagram of the another embodiment of engineer machinery operation object locating system of the present invention.Compared with the embodiment shown in Fig. 9, base station 901 is connected with hoisting crane solving unit 904, and the first rover station 902, second rover station 903 is not connected with hoisting crane solving unit 904, wherein:
First rover station 902, for Real-time Collection satellite positioning information as current measurement value D1, and sends to base station by D1.
First rover station 903, for Real-time Collection satellite positioning information as current measurement value D2, and sends to base station by D2.
Base station 901, for Real-time Collection satellite positioning information as current measurement value D0; Real time dynamic differential process is carried out to obtain the relative co-ordinate information R1 of the first rover station to D0 and D1, determines the accurate coordinates d1 of the first rover station according to R1 and known base station accurate coordinates d0; Real time dynamic differential process is carried out to obtain the relative co-ordinate information R2 of the second rover station to D0 and D2, determines the accurate coordinates d2 of the second rover station according to R2 and known base station accurate coordinates d0; Hoisting crane is sent to start at unit R1, d1, R2 and d2.
System in the above embodiment of the present invention can realize engineer machinery operation object localization method as shown in Figure 6.
In embodiment shown in Figure 12, the embodiment shown in functional domain Fig. 9 of hoisting crane solving unit 904 and crane controller 905 is similar, no longer describes in detail here.
The difference of the embodiment shown in the embodiment shown in Figure 12 and Fig. 9 is mainly: real time dynamic differential calculates and obtains rover station relative coordinate and determine that the step of rover station accurate coordinates is performed by base station, thus reduces the performance requriements to rover station.
In one embodiment of the invention, base station 901 also for Real-time Collection satellite positioning information as current measurement value D0; Correction k is determined according to D0 and known base station precision coordinate d0; Determine the accurate coordinates d1 of the first rover station according to D1 and k, determine the relative co-ordinate information R1 of the first rover station according to d1 and d0; Determine the accurate coordinates d2 of the second rover station according to D2 and k, determine the relative co-ordinate information R2 of the second rover station according to d2 and d0; Hoisting crane is sent to start at unit R1, d1, R2 and d2.
System in the above embodiment of the present invention can realize engineer machinery operation object localization method as shown in Figure 8.
General processor for performing function described by the application, programmable logic controller (PLC) (PLC), digital signal processor (DSP), special IC (ASIC), field programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components is can be implemented as or it is appropriately combined arbitrarily at functional units such as hoisting crane solving unit 904 described above and crane controllers 905.
So far, the present invention is described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
Claims (10)
1. an engineer machinery operation object localization method, is characterized in that, comprising:
Base station Real-time Collection satellite positioning information is as current measurement value D0, and D0 is sent to the first rover station and the second rover station, wherein base station is arranged on crane rotation axle center, and the first rover station is arranged on hanging object lifting position, and the second rover station is arranged on hoisting crane headstock place;
First rover station Real-time Collection satellite positioning information, as current measurement value D1, carries out real time dynamic differential process to obtain the relative co-ordinate information of the first rover station to D0 and D1, and the relative co-ordinate information of the first rover station is sent to hoisting crane solving unit;
Second rover station Real-time Collection satellite positioning information, as current measurement value D2, carries out real time dynamic differential process to obtain the relative co-ordinate information of the second rover station to D0 and D2, and the relative co-ordinate information of the second rover station is sent to hoisting crane solving unit;
Hoisting crane solving unit is according to the relative co-ordinate information determination arm spread length of the relative co-ordinate information of the first rover station, the second rover station, arm luffing angle and arm degreeof turn;
Crane controller is according to described arm spread length, arm luffing angle and arm degreeof turn, and control arm runs to described hanging object lifting position and lifts by crane described hanging object.
2. method according to claim 1, it is characterized in that, after hoisting crane solving unit is according to the step of the relative co-ordinate information determination arm spread length of the relative co-ordinate information of the first rover station, the second rover station, arm luffing angle and arm degreeof turn, also comprise:
Judge described arm spread length, arm luffing angle and arm degreeof turn whether within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn;
If described arm spread length, arm luffing angle and arm degreeof turn be not within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, then output alarm information;
If described arm spread length, arm luffing angle and arm degreeof turn are within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, then walking crane controller is according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the step that described hanging object is lifted by crane in described hanging object lifting position.
3. method according to claim 1, it is characterized in that, hoisting crane solving unit comprises according to the step of the relative co-ordinate information determination arm spread length of the relative co-ordinate information of the first rover station, the second rover station, arm luffing angle and arm degreeof turn:
Hoisting crane solving unit is according to the relative co-ordinate information determination arm spread length of the first rover station and arm luffing angle;
The relative co-ordinate information of hoisting crane solving unit according to the first rover station, the relative co-ordinate information determination arm degreeof turn of the second rover station.
4. method according to claim 1, it is characterized in that, crane controller, according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the step of lifting by crane described hanging object in described hanging object lifting position and comprise:
Run in the process of described hanging object lifting position controlling arm, judge current arm luffing angle that principal arm angular transducer collects whether within the scope of predetermined arm luffing angle;
If current arm luffing angle within the scope of predetermined arm luffing angle, does not then carry out amplitude change, current arm luffing angle is adjusted within the scope of predetermined arm luffing angle;
If current arm luffing angle is within the scope of predetermined arm luffing angle, then judge that the current degreeof turn that degreeof turn coder collects judges whether within the scope of predetermined arm degreeof turn;
If current degreeof turn is not within the scope of predetermined arm degreeof turn, then rotary suspension arm, current degreeof turn is adjusted within the scope of predetermined arm degreeof turn;
If current degreeof turn is within the scope of predetermined arm degreeof turn, then judge that linear transducer collects current collapsing length whether in predetermined arm spread length;
If current collapsing length is not in predetermined arm spread length, then telescopic jib, current collapsing length is adjusted within the scope of predetermined arm spread length;
If current collapsing length in predetermined arm spread length, then lifts by crane described hanging object.
5. method according to claim 1, is characterized in that, also comprises:
Known base station precision coordinate is sent to the first rover station and the second rover station by base station;
First rover station obtains the first rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the first rover station, and sends to hoisting crane solving unit;
Second rover station obtains the second rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the second rover station, and sends to hoisting crane solving unit.
6. an engineer machinery operation object locating system, it is characterized in that, comprise base station, the first rover station, the second rover station, hoisting crane solving unit and crane controller, wherein base station is arranged on crane rotation axle center, first rover station is arranged on hanging object lifting position, second rover station is arranged on hoisting crane headstock place, wherein:
Base station, for Real-time Collection satellite positioning information as current measurement value D0, and sends to the first rover station and the second rover station by D0;
First rover station, for Real-time Collection satellite positioning information as current measurement value D1, real time dynamic differential process is carried out to obtain the relative co-ordinate information of the first rover station to D0 and D1, and the relative co-ordinate information of the first rover station is sent to hoisting crane solving unit;
Second rover station, for Real-time Collection satellite positioning information as current measurement value D2, real time dynamic differential process is carried out to obtain the relative co-ordinate information of the second rover station to D0 and D2, and the relative co-ordinate information of the second rover station is sent to hoisting crane solving unit;
Hoisting crane solving unit, for the relative co-ordinate information determination arm spread length of the relative co-ordinate information according to the first rover station, the second rover station, arm luffing angle and arm degreeof turn;
Crane controller, for according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to described hanging object lifting position and lift by crane described hanging object.
7. system according to claim 6, is characterized in that,
Hoisting crane solving unit, also for after the relative co-ordinate information determination arm spread length of the relative co-ordinate information according to the first rover station, the second rover station, arm luffing angle and arm degreeof turn, judges described arm spread length, arm luffing angle and arm degreeof turn whether within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn; When described arm spread length, arm luffing angle and arm degreeof turn are not within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, output alarm information; And when described arm spread length, arm luffing angle and arm degreeof turn are within the scope of predetermined sling height scope, arm luffing angle scope, arm degreeof turn, instruction crane controller performs according to described arm spread length, arm luffing angle and arm degreeof turn, controls arm and runs to the operation that described hanging object is lifted by crane in described hanging object lifting position.
8. system according to claim 6, is characterized in that, hoisting crane solving unit comprises first and resolves module and second and resolve module, wherein:
First resolves module, for according to the relative co-ordinate information determination arm spread length of the first rover station and arm luffing angle;
Second resolves module, for the relative co-ordinate information determination arm degreeof turn of the relative co-ordinate information according to the first rover station, the second rover station.
9. system according to claim 6, is characterized in that, crane controller comprises the first identification module, the second identification module, the 3rd identification module, execution module, wherein:
First identification module, for judging current arm luffing angle that principal arm angular transducer collects whether within the scope of predetermined arm luffing angle;
Second identification module, for the judged result according to the first identification module, current arm luffing angle in predetermined arm luffing angle scope time, judge that the current degreeof turn that degreeof turn coder collects judges whether within the scope of predetermined arm degreeof turn;
3rd identification module, for the judged result according to the second identification module, when current degreeof turn is within the scope of predetermined arm degreeof turn, judges that linear transducer collects current collapsing length whether in predetermined arm spread length;
Execution module, for the judged result according to the first identification module, when current arm luffing angle is not within the scope of predetermined arm luffing angle, carries out amplitude change, to adjust within the scope of predetermined arm luffing angle by current arm luffing angle; According to the judged result of the second identification module, when current degreeof turn is not within the scope of predetermined arm degreeof turn, rotary suspension arm, to adjust to current degreeof turn within the scope of predetermined arm degreeof turn; According to the judged result of the 3rd identification module, when current collapsing length is not in predetermined arm spread length, telescopic jib, to adjust to current collapsing length within the scope of predetermined arm spread length, and when current collapsing length is in predetermined arm spread length, lift by crane described hanging object.
10. system according to claim 6, is characterized in that,
Base station is also for sending to the first rover station and the second rover station by known base station precision coordinate;
First rover station also for obtaining the first rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the first rover station, and sends to hoisting crane solving unit;
Second rover station also for obtaining the second rover station precision coordinate according to the relative co-ordinate information of base station precision coordinate and the second rover station, and sends to hoisting crane solving unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410452239.2A CN104310224B (en) | 2014-09-05 | 2014-09-05 | Engineer machinery operation object localization method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410452239.2A CN104310224B (en) | 2014-09-05 | 2014-09-05 | Engineer machinery operation object localization method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104310224A true CN104310224A (en) | 2015-01-28 |
| CN104310224B CN104310224B (en) | 2016-10-05 |
Family
ID=52365582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410452239.2A Active CN104310224B (en) | 2014-09-05 | 2014-09-05 | Engineer machinery operation object localization method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104310224B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105858480A (en) * | 2016-06-22 | 2016-08-17 | 北京建筑大学 | Building construction tower crane and fixed-point hoisting and lofting auxiliary system thereof |
| CN106371115A (en) * | 2016-06-27 | 2017-02-01 | 上海达华测绘有限公司 | Beidou short message technology based multi-mode and multi-frequency maritime precisely positioning method |
| CN107758513A (en) * | 2017-09-07 | 2018-03-06 | 北汽福田汽车股份有限公司 | Acquisition methods, device, crane, storage medium and the processor of construction information |
| CN108594281A (en) * | 2018-04-17 | 2018-09-28 | 上海工程技术大学 | Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method |
| CN109095356A (en) * | 2018-11-07 | 2018-12-28 | 徐工集团工程机械有限公司 | Engineering machinery and its working space dynamic collision-proof method, device and system |
| CN109534173A (en) * | 2018-12-06 | 2019-03-29 | 中联重科股份有限公司 | For the control method of crane, limiter of moment and crane |
| CN110456392A (en) * | 2019-08-23 | 2019-11-15 | 北京建筑大学 | A kind of tower crane beam position precise positioning reliability verification method |
| CN110632622A (en) * | 2019-08-23 | 2019-12-31 | 北京建筑大学 | Building tower crane and accurate positioning reliability verification system for lifting hook position thereof |
| 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 |
| CN113340257A (en) * | 2021-08-09 | 2021-09-03 | 三一汽车起重机械有限公司 | Crane sidewise bending detection method and device, crane and electronic equipment |
| CN113532253A (en) * | 2021-07-27 | 2021-10-22 | 上海亥伯智能科技有限公司 | Method and system for detecting side-pulling lateral bending of suspension arm of heavy crane |
| CN113526349A (en) * | 2021-07-27 | 2021-10-22 | 上海亥伯智能科技有限公司 | Detection method and detection system for diagonal pulling of heavy crane hook |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006044932A (en) * | 2004-08-09 | 2006-02-16 | Hitachi Constr Mach Co Ltd | Crane attitude arithmetic unit, overload preventive device and work range limiting device |
| US7032763B1 (en) * | 2002-11-18 | 2006-04-25 | Mi-Jack Products, Inc. | System and method for automatically guiding a gantry crane |
| US7344037B1 (en) * | 2002-11-18 | 2008-03-18 | Mi-Jack Products, Inc. | Inventory storage and retrieval system and method with guidance for load-handling vehicle |
| CN102452617A (en) * | 2010-11-02 | 2012-05-16 | 三一电气有限责任公司 | Method and device for positioning crane landing leg |
| CN102502406A (en) * | 2011-10-31 | 2012-06-20 | 中联重科股份有限公司 | Crane boom working parameter measuring method, controller, apparatus, and crane |
| CN103303796A (en) * | 2013-07-08 | 2013-09-18 | 北京中船信息科技有限公司 | Gantry crane attitude monitoring system and method based on beidou satellite positioning system |
-
2014
- 2014-09-05 CN CN201410452239.2A patent/CN104310224B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7032763B1 (en) * | 2002-11-18 | 2006-04-25 | Mi-Jack Products, Inc. | System and method for automatically guiding a gantry crane |
| US7344037B1 (en) * | 2002-11-18 | 2008-03-18 | Mi-Jack Products, Inc. | Inventory storage and retrieval system and method with guidance for load-handling vehicle |
| JP2006044932A (en) * | 2004-08-09 | 2006-02-16 | Hitachi Constr Mach Co Ltd | Crane attitude arithmetic unit, overload preventive device and work range limiting device |
| CN102452617A (en) * | 2010-11-02 | 2012-05-16 | 三一电气有限责任公司 | Method and device for positioning crane landing leg |
| CN102502406A (en) * | 2011-10-31 | 2012-06-20 | 中联重科股份有限公司 | Crane boom working parameter measuring method, controller, apparatus, and crane |
| CN103303796A (en) * | 2013-07-08 | 2013-09-18 | 北京中船信息科技有限公司 | Gantry crane attitude monitoring system and method based on beidou satellite positioning system |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN107140538B (en) * | 2016-06-22 | 2018-06-29 | 北京建筑大学 | Odometer GNSS component buildings construction crane machine and lifting fixed point setting-out system |
| CN105858480A (en) * | 2016-06-22 | 2016-08-17 | 北京建筑大学 | Building construction tower crane and fixed-point hoisting and lofting auxiliary system thereof |
| CN107140538A (en) * | 2016-06-22 | 2017-09-08 | 北京建筑大学 | Odometer GNSS component buildings construction crane machine and lifting fixed point setting-out system |
| CN106371115A (en) * | 2016-06-27 | 2017-02-01 | 上海达华测绘有限公司 | Beidou short message technology based multi-mode and multi-frequency maritime precisely positioning method |
| CN106371115B (en) * | 2016-06-27 | 2019-01-25 | 上海达华测绘有限公司 | Based on Big Dipper short message technology multimode multi-frequency sea precision positioning method |
| CN107758513B (en) * | 2017-09-07 | 2019-04-23 | 北汽福田汽车股份有限公司 | Acquisition methods, device, crane, storage medium and the processor of construction information |
| CN107758513A (en) * | 2017-09-07 | 2018-03-06 | 北汽福田汽车股份有限公司 | Acquisition methods, device, crane, storage medium and the processor of construction information |
| CN108594281A (en) * | 2018-04-17 | 2018-09-28 | 上海工程技术大学 | Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method |
| CN109095356A (en) * | 2018-11-07 | 2018-12-28 | 徐工集团工程机械有限公司 | Engineering machinery and its working space dynamic collision-proof method, device and system |
| CN109095356B (en) * | 2018-11-07 | 2024-03-01 | 江苏徐工国重实验室科技有限公司 | Engineering machinery and operation space dynamic anti-collision method, device and system thereof |
| CN109534173A (en) * | 2018-12-06 | 2019-03-29 | 中联重科股份有限公司 | For the control method of crane, limiter of moment and crane |
| CN110456392A (en) * | 2019-08-23 | 2019-11-15 | 北京建筑大学 | A kind of tower crane beam position precise positioning reliability verification method |
| CN110456392B (en) * | 2019-08-23 | 2021-05-11 | 北京建筑大学 | Method for verifying accurate positioning reliability of position of cross arm of building tower crane |
| CN110632622A (en) * | 2019-08-23 | 2019-12-31 | 北京建筑大学 | Building tower crane and accurate positioning reliability verification system for lifting hook position thereof |
| CN113532253A (en) * | 2021-07-27 | 2021-10-22 | 上海亥伯智能科技有限公司 | Method and system for detecting side-pulling lateral bending of suspension arm of heavy crane |
| CN113526349A (en) * | 2021-07-27 | 2021-10-22 | 上海亥伯智能科技有限公司 | Detection method and detection system for diagonal pulling of heavy crane hook |
| CN113526349B (en) * | 2021-07-27 | 2022-06-17 | 上海亥伯智能科技有限公司 | Detection method and detection system for diagonal pulling of heavy crane hook |
| CN113340257A (en) * | 2021-08-09 | 2021-09-03 | 三一汽车起重机械有限公司 | Crane sidewise bending detection method and device, crane and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104310224B (en) | 2016-10-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104310224A (en) | Engineering machine operation target positioning method and system | |
| EP3889725B1 (en) | Self-moving robot movement boundary determining method | |
| US20140278076A1 (en) | Determining a crane tilt angle | |
| CN106772493B (en) | Unmanned plane course calculating system and its measuring method based on Beidou Differential positioning | |
| US9547088B2 (en) | Crane boom pointing angle determination | |
| US20160034730A1 (en) | Asset location on construction site | |
| US20110109915A1 (en) | Position determination method | |
| CN103673972B (en) | Deflection of arm support measuring method, equipment, system and crane | |
| CN103885069B (en) | GPS in Long Distance Pipeline based on CORS controls measuring method | |
| CN103852059B (en) | The scraper bowl locating device of backhoe [shovel and method | |
| CN108051835A (en) | A kind of inclination measuring device and measurement and setting out method based on double antenna | |
| CN107215792A (en) | Group's tower anticollision control method, control device and control system | |
| WO2015135309A1 (en) | Target positioning method and system for construction machine operation | |
| CN109613584A (en) | The positioning and orienting method of unmanned truck based on UWB | |
| CN103754235A (en) | Inertial positioning and orienting device for high-speed rail measurement and method | |
| CN107942345A (en) | It is accurately positioned the double lifting rope section construction crane machines of GNSS of lift hook position | |
| CN102998689B (en) | Region decision method based on virtual-sensor | |
| CN209479681U (en) | Realize the measurement trolley that track quickly detects | |
| CN107861509A (en) | A kind of anchor point method for correcting coordinate and the method for improving robot localization precision | |
| CN108873934A (en) | A kind of flight course planning of unmanned plane and calibration method and flight course control system | |
| CN107607964A (en) | A kind of laser ranging localization method applied to RTK receivers | |
| CN110221327B (en) | Non-contact measuring piling system and piling method | |
| CN105203993A (en) | Underground-pipeline three-point position indicator and working method thereof | |
| CN107917693A (en) | One kind is based on anallatic inclination measuring device and measuring method | |
| Ly et al. | A fully autonomous robot for putting posts for trellising vineyard with centimetric accuracy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 221001 Jiangsu city of Xuzhou Province Economic and Technological Development Zone of High Road No. 68 Patentee after: Xuzhou Heavy Machinery Co., Ltd. Address before: 221004 Xuzhou, Zhejiang Province, Jiangsu Road No. 165 Patentee before: Xuzhou Heavy Machinery Co., Ltd. |