CN107487715B - One kind is for the pinpoint method in outdoor traveling crane steel loading item pool position - Google Patents
One kind is for the pinpoint method in outdoor traveling crane steel loading item pool position Download PDFInfo
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- CN107487715B CN107487715B CN201610401726.5A CN201610401726A CN107487715B CN 107487715 B CN107487715 B CN 107487715B CN 201610401726 A CN201610401726 A CN 201610401726A CN 107487715 B CN107487715 B CN 107487715B
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- 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
- B66C13/22—Control systems or devices for electric drives
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to one kind for the pinpoint method in outdoor traveling crane steel loading item pool position, it is described outdoor traveling crane steel loading item pool position positioning include cart positioning system, trolley positioning system and based on by the network communication of two kinds of systems, data acquire and conversion warehouse compartment information system, the cart positioning system uses Satellite Navigation Technique (GNSS) and data difference technology (RTK), including base station, cart movement station and wireless communication module, control and data transmission module between the two；The trolley positioning system includes graduated scale cable system, and vernier pointer module, scale generates and analysis converting transmission module；The warehouse compartment information system is by big trolley position data collecting and the coil of strip warehouse compartment by setting is converted to specific warehouse compartment, on computer terminals real-time display, to realize that hanging steel roll warehouse compartment is accurately positioned.
Description
Technical field
The present invention relates to a kind of localization methods, and in particular to one kind is pinpoint for outdoor traveling crane steel loading item pool position
Method.
Background technique
Plum steel berthing facilities are the large warehoused ports handling river cargo of iron company, are mainly responsible for the coils of hot-rolled steel of company's production
It works with the outgoing of plate.Plum steel berthing facilities have 4 stockyards in outdoor, are divided into two regions, each region (cart track)
Upper there are two outdoor 16T+16T to drive a vehicle, and driving is built in 1994, has used more than 20 years.Input work is engaged in outdoor driving
When, after driving hanging steel roll landing, the warehouse compartment information of coil of strip manually inputs management system.Manual confirmation and input labor intensity
Height is also easy error, causes warehouse compartment information inaccurate, coil of strip is just less susceptible to find in outbound.Referring to existing driving
When location technology, outdoor driving is primarily present following three aspects problem: first, using simple Satellite Navigation Technique (such as GPS),
The data error of positioning is larger (several meters even more than ten meters)；Second, according to outdoor driving own structural characteristics, trolley direction is uncomfortable
With satellite positioning, upper beam is driven a vehicle when trolley passes through, and the signal for sheltering from satellite receives；Third, cart direction is not applicable to carve
Anale settting scale location technology does not have suitable position installation graduated scale, moreover travelling crane truck stroke at outdoor travelling crane truck track
Nearly 200M, graduated scale induction coil is too long, and positioning accuracy cannot reliably guarantee；4th, the format of location data phase not to the utmost
Together, it needs reliably, more crucially to need to handle data using two kinds of positioning methods, data acquisition and transmission, turn
Change the warehouse compartment information used originally into.Therefore, a kind of new scheme of urgent need solves above-mentioned technical problem, realizes lifting plate
The accurate positioning of volume.
Summary of the invention
The present invention exactly for the technical problems in the prior art, provides a kind of for outdoor traveling crane steel loading item pool
The pinpoint method in position, this method carry out research of technique for the prior art and outdoor driving self structure, form a kind of use
In the pinpoint method in outdoor traveling crane steel loading item pool position, which can ensure the accurate of outdoor traveling crane loading board volume
Positioning.
To achieve the goals above, technical scheme is as follows, and one kind is for outdoor traveling crane steel loading item pool position essence
The method for determining position, which is characterized in that the described method comprises the following steps, 1) outdoor traveling crane steel loading item pool position accurate positioning master
Warehouse compartment information system is acquired and converted by cart positioning system, trolley positioning system, network communication and data；2) described big
Satellite (GNSS) base station is arranged in vehicle positioning system, opens the satellite reception day that a base fixed is arranged in wealthy place in office building
Line is equipped with corresponding lightning protection earthing system, and indoor location ground control cabinet nearby, and inside includes coordinate setting apparatus, power supply
Module, wireless communication module (containing antenna), coordinate setting apparatus and wireless communication module exchange host with local area network in factory and are connected；
3) cart movement station is set on outdoor runway grider, configures corresponding satellite earth antenna and end carriage control cabinet,
Including coordinate setting apparatus, power module, wireless communication module (containing antenna) in cabinet, moving station number is according to by wireless telecommunications and wirelessly
Communication is connected with LAN switch；4) the received satellite data of base station and movement station reception satellite data pass through wireless network
Communication and RTK Difference Calculation are carried out, to obtain more accurately satellite location data (error is less than 1 centimetre), and by factory
LAN switch sends terminal monitoring host by fixed frequency for real-time cart location data；5) in trolley travelling area
It is horizontally mounted cable bearer every 2M on the corresponding crossbeam in domain, and graduated scale induction cable is fixed on bracket, cable
One end is accessed in above-mentioned end carriage control cabinet on graduated scale analyzer, by signal distributor, channel radio in scale analyzer and cabinet
Module (containing antenna) is interrogated to be connected；6) power module, scale generation instrument are installed in trolley compartment control cabinet, away from sense below trolley
Answer cable distance 15CM or so that vernier pointer is installed, pointer is maintained a certain distance with the induction cable on crossbeam, is transported in trolley
Vernier pointer emits position signal when row；Position signal is received by the scale analyzer connecting with induction cable to receive, then is passed through
It crosses after signal distributor conversion and sends position data to wireless communication module, wireless communication module also takes on simultaneously in base station
Receive the incoming real-time graduated scale data of wireless communication module, and by LAN switch in factory by trolley location data
Monitoring host computer is sent to by fixed frequency；7) an outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, it is main
There are three big energy units altogether, receives big trolley location data, carried out at corresponding data conversion according to harbour reservoir area coding rule
It manages, finally the real-time warehouse compartment information of real-time display hanging steel roll and big trolley analog position figure on computer monitoring host.
As an improvement of the present invention, in the step 2, the coordinate setting apparatus of base station is a collection satellite data
Receive, processing and the module that is integrated of data communication, centered on position indicator, with power module, satellite antenna, wireless network,
LAN switch is connected, the coordinate data (datum mark) of coordinate setting apparatus reception office building satellite antenna, same in outdoor driving
The coordinate data (reference point) that step clock receives is by wireless network transmissions to coordinate setting apparatus, bench mark data and reference point
Data compare processing i.e. RTK Difference Calculation, and to determine outdoor driving relative position, the position data is than individual GPS
Satellite data is more accurate (error is less than 1 centimetre)；Coordinate setting apparatus sends the precise information that processing obtains to by local area network
Background monitoring host.
As an improvement of the present invention, the coordinate setting apparatus in the movement station is that a collection satellite data receives, locates
The module that reason and data communication are integrated is connected centered on position indicator with power module, satellite antenna, wireless network, will be same
Walk the coordinate data received) positioning of the reference station instrument is transferred to by Wi-Fi.
As an improvement of the present invention, detailed process is as follows for the step 4): the received satellite number of positioning of the reference station instrument
It is communicated according to reception satellite data synchronous with movement station position indicator by wireless network, is synchronized in positioning of the reference station instrument
The RTK Difference Calculation of data to obtain more accurately satellite location data (error is less than 1 centimetre), and passes through local in factory
Network switch sends terminal monitoring host by fixed frequency for real-time cart location data.
As an improvement of the present invention, the step 6) is specific as follows, and power supply mould is installed in trolley compartment control cabinet
Block, scale generate instrument, install vernier pointer away from induction cable distance 15CM or so below trolley, the induction on pointer and crossbeam
Cable maintains a certain distance, and in trolley travelling, scale generates instrument and generates electromagnetic induction signal to vernier pointer；Vernier pointer
The contactless movement in parallel of relative scale scale cable, in moving process graduated scale cable changes of magnetic field situation by with cable
The scale analyzer of connection records trolley location information, goes out using signal distributor decoded back absolute locating for trolley
Position location information；Wireless communication module also takes on wireless communication module in reception movement station simultaneously and launches in base station
Trolley real time position location information, and sent trolley location data to by fixed frequency by LAN switch in factory
Monitoring host computer.
As an improvement of the present invention, the step 7) is specific as follows, and an outdoor driving is worked out on monitoring host computer
Warehouse compartment positioning software system, mainly there is three zones unit, first, the big trolley location data unit of reception, which leads to
It crosses data-interface software and receives cart satellite positioning and trolley graduated scale location data by fixed frequency；Second, data processing
And converting unit, one datum mark is set on harbour physics reservoir area top, big trolley location data is reference with datum mark, can be with
The absolute coordinate of big trolley relative datum point is obtained in real time；Third, warehouse compartment information and position simulative display functional unit, with base
Start on schedule, is preset in information system entirely according to the actual range of each warehouse compartment in stockyard and harbour reservoir area warehouse compartment rule
The warehouse compartment information and simulative display figure of driving operation area, the absolute coordinate of any one section of relative datum point can be by this
It unites and is converted into warehouse compartment information and driving stimulation position view, in real-time display to terminal computer screen, finally supervised in computer
Control the warehouse compartment information of real-time display hanging steel roll and dynamic big trolley analog position figure on host.
Compared with the existing technology, advantages of the present invention is as follows, which solves various location technologies cannot be in plum
It is used alone in driving outside steel harbour room, various technologies has been drawn a little, according to the design feature and steel of outdoor driving itself
Item pool position location requirement, creative is integrated with Technique of Satellite Navigation and Positioning and graduated scale location technology, and cart positioning is abundant
Satellite GNSS is utilized, simple advantage is installed, avoids graduated scale installation positioning device over long distances；Trolley positioning is using quarter
Anale settting scale also effectively avoids during trolley travelling that gooseneck is received to satellite GNSS signal to be blocked；The technical solution collection
High at technological orientation precision, error is no more than 1 centimetre, is very suitable to the bucket management of outdoor driving hanging steel roll, for application
Scene, program structure is simple, easy for installation, and reliability is higher, the location data of hanging steel roll, reduces operating personnel's labour
Intensity improves labor efficiency and outdoor coil of strip stockyard warehouse compartment utilization rate, is also able to achieve outdoor driving anti-collision, improves equipment
Safety.
Detailed description of the invention
Fig. 1 is that driving is accurately positioned total system figure；
Fig. 2 is cart positioning system (A) schematic diagram；
Fig. 3 is trolley positioning system (B) schematic diagram；
Fig. 4 is acquisition and conversion system (D) schematic diagram；
In figure: A, cart positioning system；A1, cart position movement station；A2, cart position wireless telecommunications；The positioning of A3 cart
Movement station；B, trolley positioning system；C: network communication (existing local area network)；D: acquisition and conversion system (monitoring host computer)；
1, base station satellite (GNSS) receiving antenna；2, base station coordinate setting apparatus；3, base station power module；4, base
Quasi- station wireless communication module (containing antenna)；5, movement station satellite earth antenna 6, movement station coordinate setting apparatus；7, movement station station electricity
Source module；8, movement station communication module (containing antenna)；9, moving trolley power module；10, scale generates instrument；11, vernier pointer；
12, induction cable；13, scale analyzer；14, signal distributor；15, software data receiving unit；16, software data processing and
Conversion unit 17, software warehouse compartment are shown and position analogue unit.
Specific embodiment
In order to further enhance the appreciation and understanding of the invention, with reference to the accompanying drawings and detailed description, this is furtherd elucidate
Invention.
Embodiment 1: one kind is described referring to Fig. 1,2,3,4 for the pinpoint method in outdoor traveling crane steel loading item pool position
Method includes the following steps, 1) this outdoor traveling crane steel loading item pool position is accurately positioned and is mainly positioned by cart positioning system A, trolley
System B and based on acquiring the network communication C of two kinds of systems, data and conversion warehouse compartment information system D tetra- is most of forms, 2)
Cart positioning system needs to be arranged satellite (GNSS) base station, connects in the satellite that office building opens one base fixed of wealthy place's setting
Antenna 1 is received, corresponding lightning protection earthing system is equipped with.And nearby indoor location ground control cabinet, inside include coordinate setting apparatus
2, power module 3, wireless communication module (containing antenna) 4, coordinate setting apparatus 2 and wireless communication module 4 and local area network C in factory are handed over
It changes planes connected, 3) cart movement station is set on outdoor runway grider, configure corresponding satellite earth antenna 5 and end carriage control
Cabinet, interior cabinet includes coordinate setting apparatus 6, power module 7, wireless communication module (containing antenna) 8 etc., and moving station number evidence passes through channel radio
News 4 and wireless telecommunications 8 be connected with local area network C interchanger, 4) the received satellite data of base station and movement station reception satellite data
Communication and RTK Difference Calculation are carried out by wireless network, (error is less than 1 li to obtain more accurately satellite location data
Rice), and terminal monitoring master is sent by fixed frequency for real-time cart location data by local area network C interchanger in factory
Machine, 5) cable bearer is horizontally mounted every 2M on the corresponding crossbeam in trolley travelling region, and by graduated scale induction cable 12
Be fixed on bracket, one end of cable is accessed in above-mentioned end carriage control cabinet on graduated scale analyzer 13, by scale analyzer with
Signal distributor 14 in cabinet, wireless communication module (containing antenna) 8 are connected, 6) installed in trolley compartment control cabinet power module 9,
Scale generates instrument 10, installs vernier pointer 11 away from induction cable distance 15CM or so below trolley, the sense on pointer and crossbeam
Cable 12 is answered to maintain a certain distance, vernier pointer 11 emits position signal in trolley travelling；By connecting with induction cable 12
The scale analyzer 13 connect receives position signal and receives, and sends after converting using signal distributor 14 to wireless communication module 8
Position data, wireless communication module 4 also takes on the incoming real-time graduated scale of reception wireless communication module 8 simultaneously in base station
Footage evidence, and monitoring host computer is sent by fixed frequency for trolley location data by local area network C interchanger in factory, 7) it is supervising
Establishment one outdoor driving warehouse compartment positioning software system on control host mainly has three big energy units altogether, receives big trolley positioning number
According to 15, corresponding data conversion processing 16 is carried out according to harbour reservoir area coding rule, finally on computer monitoring host in real time
The real-time warehouse compartment information of display hanging steel roll and big trolley analog position Fig. 1-3.
In the step 2, the coordinate setting apparatus 2 of base station is that a collection satellite data receives, processing and data communication are
The module of one is connected centered on position indicator with power module 3, satellite antenna, wireless network, LAN switch, coordinate
Position indicator receives the coordinate data (datum mark) of office building satellite antenna, the coordinate data that synchronised clock receives in outdoor driving
(reference point) compares the i.e. RTK of processing by wireless network transmissions to coordinate setting apparatus, bench mark data and with reference to point data
Difference Calculation, to determine outdoor driving relative position, the position data is more accurate than individual GPS satellite data, and (error is small
In 1 centimetre)；Coordinate setting apparatus sends background monitoring host by local area network for the precise information that processing obtains.
Coordinate setting apparatus 6 in movement station described in the step 3) is a collection satellite data reception, processing and data
The module being integrated is communicated to be connected with power module, satellite antenna, wireless network, receive synchronizing centered on position indicator
Coordinate data) positioning of the reference station instrument is transferred to by Wi-Fi.
Detailed process is as follows for the step 4): the received satellite data of positioning of the reference station instrument 2 is synchronous with movement station position indicator 6
It receives satellite data to be communicated by wireless network, the RTK Difference Calculation of data is synchronized in positioning of the reference station instrument, with
Just more accurately satellite location data (error is less than 1 centimetre) is obtained, and by LAN switch in factory by real-time cart
Location data is sent to terminal monitoring host by fixed frequency.
The step 6) is specific as follows, power module 9, scale generation instrument 10 is installed in trolley compartment control cabinet, small
Vernier pointer 11 is installed away from induction cable distance 15CM or so below vehicle, the induction cable 12 on pointer and crossbeam keeps certain
Distance, in trolley travelling, scale generates instrument and generates electromagnetic induction signal to vernier pointer；Vernier pointer relative scale scale electricity
Cable contactless movement in parallel, in moving process graduated scale cable changes of magnetic field situation by with the analysis of the scale of cable connection
Instrument 13 records trolley location information, goes out the letter of Absolutely orientation locating for trolley using 14 decoded back of signal distributor
Breath；Wireless communication module also takes on that receive the trolley that wireless communication module in movement station launches real-time simultaneously in base station
Position location information, and monitoring host computer is sent by fixed frequency for trolley location data by LAN switch in factory.
The step 7) is specific as follows, an outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, mainly
There is three zones unit, first, the big trolley location data unit 15 of reception, the software systems are by data-interface software by fixation
Frequency reception cart satellite positioning and trolley graduated scale location data；Second, data processing and converting unit 16, in harbour object
It manages reservoir area top and one datum mark is set, big trolley location data is reference with datum mark, and it is opposite can to obtain in real time big trolley
The absolute coordinate of datum mark；Third, warehouse compartment information and position simulative display functional unit 17, are started with datum mark, according to heap
The actual range and harbour reservoir area warehouse compartment rule of each warehouse compartment in field preset entire driving operation area in information system
Warehouse compartment information and simulative display figure, the absolute coordinate of any one section of relative datum point can be converted into warehouse compartment letter by this system
Breath and driving stimulation position view in real-time display to terminal computer screen, are finally shown on computer monitoring host in real time
Show the warehouse compartment information and dynamically big trolley analog position figure of hanging steel roll.
Above-mentioned technical proposal is mainly the design feature and coil of strip warehouse compartment location requirement according to outdoor driving itself, creative
Be integrated with Technique of Satellite Navigation and Positioning and graduated scale location technology, it is simple that cart positioning takes full advantage of satellite GNSS installation
The advantages of, avoid graduated scale installation positioning device over long distances；Trolley positioning is also effectively avoided small using graduated scale
Gooseneck is received to satellite GNSS signal in vehicle operational process blocks；This integrated technology positioning accuracy is high, and error is no more than 1 li
Rice, is very suitable to the bucket management of outdoor driving hanging steel roll.For site of deployment, program structure is simple, easy for installation, can
Higher by property, the location data of hanging steel roll reduces operating personnel's labor intensity, improves labor efficiency and outdoor coil of strip stockyard
Warehouse compartment utilization rate is also able to achieve outdoor driving anti-collision, improves the safety of equipment.
It should be noted that above-described embodiment is only presently preferred embodiments of the present invention, there is no be used to limit the present invention
Protection scope, the equivalent substitution or substitution made based on the above technical solution belongs to protection model of the invention
It encloses.
Claims (6)
1. one kind is for the pinpoint method in outdoor traveling crane steel loading item pool position, which is characterized in that the method includes following
Step,
1) outdoor traveling crane steel loading item pool position be accurately positioned mainly by cart positioning system, trolley positioning system, network communication with
And data acquisition and conversion warehouse compartment information system form；
2) satellite (GNSS) base station is arranged in the cart positioning system, opens wealthy place in office building and a base fixed is arranged
Satellite earth antenna is equipped with corresponding lightning protection earthing system, and indoor location ground control cabinet nearby, internal fixed including coordinate
Position instrument, power module, wireless communication module, coordinate setting apparatus and wireless communication module exchange host phase with local area network in factory
Even；
3) cart movement station is set on outdoor runway grider, configures corresponding satellite earth antenna and end carriage control cabinet, in cabinet
Including coordinate setting apparatus, power module, wireless communication module, moving station number evidence passes through wireless telecommunications and LAN switch phase
Even；
4) the received satellite data of base station and movement station receive satellite data and carry out communication and RTK difference meter by wireless network
It calculates, to obtain more accurately satellite location data, and real-time cart location data is pressed by LAN switch and is fixed
Frequency be sent to terminal monitoring host；
5) it is horizontally mounted cable bearer every 2M on the corresponding crossbeam in trolley travelling region, and graduated scale induction cable is consolidated
Be scheduled on bracket, one end of cable is accessed in above-mentioned end carriage control cabinet on graduated scale analyzer, by graduated scale analyzer with
Signal distributor, wireless communication module are connected in cabinet；
6) power module, scale generation instrument are installed in trolley compartment control cabinet, away from induction cable distance 15CM below trolley
Left and right installation vernier pointer, pointer are maintained a certain distance with the induction cable on crossbeam, and in trolley travelling, vernier pointer is sent out
Penetrate position signal；Position signal is received by the graduated scale analyzer connecting with induction cable, is turned using signal distributor
It changes wireless communication module in backward reference station and sends position data, wireless communication module, which carries, in base station receives in movement station
The incoming real-time graduated scale data of wireless communication module, and pressed trolley location data admittedly by LAN switch in factory
Fixed frequency is sent to monitoring host computer；
7) an outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, mainly there is three zones unit, is received big
Trolley location data carries out corresponding data conversion processing according to harbour reservoir area coding rule, finally in computer monitoring host
The real-time warehouse compartment information of upper real-time display hanging steel roll and big trolley analog position figure.
2. according to claim 1 for the pinpoint method in outdoor traveling crane steel loading item pool position, which is characterized in that institute
It states in step 2), the coordinate setting apparatus of base station is the module for integrating satellite data reception, processing and data communication,
Centered on position indicator, it is connected with power module, satellite antenna, wireless network, LAN switch, coordinate setting apparatus reception is done
The coordinate data of public building satellite antenna is as bench mark data, and the coordinate data that synchronised clock receives in outdoor driving is as ginseng
Examination point data compare the i.e. RTK of processing by wireless network transmissions to coordinate setting apparatus, bench mark data and with reference to point data
Difference Calculation, to determine outdoor driving relative position, the precise information that coordinate setting apparatus obtains processing is sent out by local area network
It is sent to background monitoring host.
3. according to claim 2 for the pinpoint method in outdoor traveling crane steel loading item pool position, which is characterized in that institute
Stating the coordinate setting apparatus in movement station is the module for integrating satellite data reception, processing and data communication, with positioning
Centered on instrument, it is connected with power module, satellite antenna, wireless network, the coordinate data received will be synchronized and pass through Wi-Fi
It is transferred to positioning of the reference station instrument.
4. for the pinpoint method in outdoor traveling crane steel loading item pool position according to Claims 2 or 3, which is characterized in that
Detailed process is as follows for the step 4): the received satellite data of positioning of the reference station instrument reception satellite number synchronous with movement station position indicator
It is communicated according to by wireless network, the RTK Difference Calculation of data is synchronized in positioning of the reference station instrument, it is more smart to obtain
True ground satellite location data, and sent real-time cart location data to by fixed frequency by LAN switch in factory
Terminal monitoring host.
5. according to claim 4 for the pinpoint method in outdoor traveling crane steel loading item pool position, which is characterized in that described
Step 6) is specific as follows, power module, scale generation instrument is installed in trolley compartment control cabinet, away from induction cable below trolley
Distance 15CM or so installs vernier pointer, and pointer is maintained a certain distance with the induction cable on crossbeam, at the trolley travelling moment
Degree generates instrument and generates electromagnetic induction signal to vernier pointer；The contactless movement in parallel of vernier pointer relative scale scale cable,
Graduated scale cable changes of magnetic field situation records trolley by the graduated scale analyzer with cable connection in moving process
Location information goes out Absolutely orientation information locating for trolley using signal distributor decoded back；Channel radio in base station
News module also takes on simultaneously receives the trolley real time position location information that wireless communication module in movement station launches, and leads to
It crosses in factory LAN switch and sends monitoring host computer by fixed frequency for trolley location data.
6. according to claim 4 for the pinpoint method in outdoor traveling crane steel loading item pool position, which is characterized in that described
Step 7) is specific as follows, and an outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, mainly there is three zones list
Member, first, the big trolley location data unit of reception, the software systems receive cart by fixed frequency by data-interface software and defend
Star positioning and trolley graduated scale location data；Second, data processing and converting unit are arranged one on harbour physics reservoir area top
A datum mark, big trolley location data are reference with datum mark, can obtain the absolute coordinate of big trolley relative datum point in real time
Value；Third, warehouse compartment information and position simulative display functional unit, are started with datum mark, according to each warehouse compartment in stockyard it is practical away from
From and harbour reservoir area warehouse compartment rule the warehouse compartment information and simulative display of entire driving operation area are preset in information system
Figure, warehouse compartment information can be converted by this system for the absolute coordinate of any one section of relative datum point and driving stimulation position shows
It is intended to, in real-time display to terminal computer screen, finally the warehouse compartment of real-time display hanging steel roll is believed on computer monitoring host
Breath and dynamic big trolley analog position figure.
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| CN109557569A (en) * | 2019-01-02 | 2019-04-02 | 中冶华天南京电气工程技术有限公司 | The method with mechanical arm mobile device ontology and mechanical arm high accuracy positioning of realization |
| WO2021135714A1 (en) * | 2020-01-02 | 2021-07-08 | 苏州宝时得电动工具有限公司 | Base station sharing method and system for autonomous robots, and storage medium |
| CN111860720A (en) * | 2020-07-21 | 2020-10-30 | 上海罐联供应链科技发展有限公司 | RFID (radio frequency identification) and high-precision positioning integrated system and application thereof |
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| CN112782739A (en) * | 2021-01-18 | 2021-05-11 | 武汉华创北斗技术有限公司 | Intelligent driving positioning and measuring device for small and medium river hydrological cableway |
| CN114002719B (en) * | 2021-10-12 | 2022-05-03 | 广州市城市规划勘测设计研究院 | Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium |
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| CN2820803Y (en) * | 2005-08-05 | 2006-09-27 | 上海振华港口机械（集团）股份有限公司 | Automation system of optimum path of container crane |
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