CN112346100A - Positioning system and positioning method for unmanned tower crane - Google Patents
Positioning system and positioning method for unmanned tower crane Download PDFInfo
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- CN112346100A CN112346100A CN202011025129.XA CN202011025129A CN112346100A CN 112346100 A CN112346100 A CN 112346100A CN 202011025129 A CN202011025129 A CN 202011025129A CN 112346100 A CN112346100 A CN 112346100A
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- tower crane
- wireless remote
- positioning
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- station receiver
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A positioning system and a positioning method of an unmanned tower crane comprise a plurality of wireless remote terminals arranged around the tower crane, wherein each wireless remote terminal is communicated with a control system of the tower crane, the positioning system also comprises a CORS station receiver, the CORS station receiver receives a positioning signal of a satellite, the CORS station receiver is connected to a wireless AP (access point) and is accessed into a local area network, and the wireless AP is communicated with the plurality of wireless remote terminals; the invention adopts the technology, and has the following advantages: various devices on the tower crane can be accurately operated, different operation requirements of the tower crane can be met in a complex operation environment, the automation degree is high, and the risk of manual operation is reduced; the positioning of the tower crane and the wireless remote terminal is completed by adopting a GNSS system with RTK, so that potential safety hazards are eliminated; and a satellite with lower price can be used for accurate positioning, so that the control cost of the equipment is reduced, and the popularization and the use are facilitated.
Description
The technical field is as follows:
the invention relates to the field of tower cranes, in particular to a positioning system and a positioning method for an unmanned tower crane.
Background art:
with the continuous development of the construction industry in China, China has become a big world for producing and using tower cranes. In the daily use process, a tower crane driver needs to climb to the top of the tower crane to control the tower crane, the climbing tower crane belongs to high-altitude operation, and certain personal safety hidden danger exists for the tower crane driver; meanwhile, a driver of the tower crane spends time and labor when climbing the tower crane, and the working efficiency of the tower crane is also seriously reduced.
At present, some tower cranes are equipped with remote control equipment, and the tower cranes are remotely controlled through the remote control equipment, but the working state, fault information and the like of the tower cranes are difficult to know in time, so that great inconvenience is brought to operators, and meanwhile, the tower cranes are also seriously potential safety hazards in operation.
The prior art has the following defects: (1) the operation condition of various equipment on the tower crane is difficult to master when the existing remote control system of the tower crane operates, in a complex operation environment, the operation condition of the tower crane is difficult to observe by naked eyes of an operator in real time, the automation degree of the tower crane is low, the requirement of tower crane operation is difficult to meet, more artificial judgments are needed, and the risk of artificial operation is improved. (2) The location of present tower machine controlgear is all inaccurate, can appear the operation mistake because of the error in the actual operation, and simultaneously the staff is when adopting controlgear, because the location is also easy to take place the incident because of the inaccuracy, has very big potential safety hazard, and if adopt the higher miniature positioning device of precision, then the price is comparatively more expensive, is unfavorable for using widely.
The invention content is as follows:
the invention provides a positioning system and a positioning method of an unmanned tower crane, which solve the problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an unmanned tower machine positioning system, is including setting up a plurality of wireless remote terminal around the tower machine, and every wireless remote terminal all communicates with the control system of tower machine mutually, still includes CORS station receiver, CORS station receiver receives the positioning signal of satellite, and CORS station receiver is connected to wireless AP and inserts the LAN, and wireless AP communicates with a plurality of wireless remote terminal mutually.
Further, the CPRS station receiver is installed at the top end of the tower crane.
Further, the wireless remote terminal is a tablet computer provided with a tower crane control operation system.
Further, the wireless remote terminals are respectively located on the front side, the rear side, the left side and the right side of the tower crane.
Further, a positioning module is configured in the wireless remote terminal.
A positioning method of an unmanned tower crane positioning system comprises the following steps: the method comprises the following steps:
(1) the CROS station receiver receives signals of a plurality of satellites, an intersection point of the signals of the satellites is determined as positioning information of the CROS station receiver, and the CROS station receiver adopts an RTK positioning mode to obtain a differential signal according to the positioning information and the earth coordinate information of the CROS station receiver;
(2) the method comprises the steps that a wireless remote terminal receives signals of a plurality of satellites, and an intersection point of the signals of the satellites is determined as positioning information of the wireless remote terminal;
(3) the CROS station receiver sends the differential signal to the wireless AP, the wireless remote terminal and the wireless AP wirelessly communicate to receive the differential signal, the wireless remote terminal adopts an RTK positioning mode, and earth coordinate information of the wireless remote terminal is obtained according to the positioning information and the differential signal obtained in the step (2);
(4) the wireless remote terminal processes the earth coordinate information obtained in the step (3) to obtain coordinates in a rectangular coordinate system with the tower crane as an origin;
(5) and (4) the wireless remote terminal sends the coordinate information obtained in the step (4) to other wireless remote terminals through the wireless AP.
The invention adopts the technology, and has the following advantages:
(1) one tower crane is controlled by a plurality of wireless remote terminals, drivers of the tower cranes at different positions of the tower crane can accurately control the visual range of the tower crane, various devices on the tower crane can be accurately operated, the drivers of the tower cranes take their own roles in a complex operating environment, different operating requirements of the tower crane can be met, the automation degree is high, and the risk of manual operation is reduced;
(2) the GNSS system with the RTK is adopted to complete the positioning of the tower crane and the wireless remote terminal, and the tower crane drivers operating the wireless remote terminal at all positions can clearly see the positions of all the tower crane drivers, so that potential safety hazards are eliminated; and a satellite with lower price can be used for accurate positioning, so that the control cost of the equipment is reduced, and the popularization and the use are facilitated.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a control flow diagram of the present invention.
In the figure, 1, a tower crane, 2, a wireless remote terminal, 3, a satellite, 4, a wireless AP, 5 and a CORS station receiver.
The specific implementation mode is as follows:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
As shown in the figure, the positioning system of the unmanned tower crane comprises a plurality of wireless remote terminals 2 arranged around the tower crane 1, wherein each wireless remote terminal 2 is communicated with a control system of the tower crane 1, the positioning system further comprises a CORS station receiver 5, the CORS station receiver 5 receives a positioning signal of a satellite 3, the CORS station receiver 5 is connected to a wireless AP4 and is accessed into a local area network, and a wireless AP (4) is communicated with the plurality of wireless remote terminals 2.
The CPRS station receiver 5 is installed at the top end of the tower crane 1. The CPRS station receiver 6 is arranged at the top end of the tower crane 1, can receive satellite signals more accurately, can be accessed into a local area network more conveniently, and sends differential signals to the ground wireless remote terminal 2 at any time.
The wireless remote terminal 2 is a tablet computer provided with a tower crane control operation system. And an operation system for operating each device of the tower crane is configured in the tablet personal computer, and a tower crane driver can hold the tablet personal computer to control the tower crane device by clicking the operation system.
The wireless remote terminals 2 are respectively positioned on the front side, the rear side, the left side and the right side of the tower crane 1. The tower crane driver may have multiple conditions in actual operation, and can distribute according to the concrete operation that the tower crane needs to go on and the actual operating condition at engineering scene, and simultaneously in the removal of position can be carried out according to the concrete condition to each handheld wireless remote terminal 2's tower crane driver at the in-process of operation, and its position removal information can be real-time to send to each tower crane driver's wireless remote terminal 2 to supply each tower crane driver in time to know other tower crane driver's position condition.
A positioning module is provided in the wireless remote terminal 2. The wireless remote terminal 2 adopts an independently configured positioning module, the positioning module is matched with a satellite for obtaining positioning information, and different satellite positioning modules can be selected by the positioning module according to actual working conditions.
A positioning method of an unmanned tower crane positioning system comprises the following steps: the method comprises the following steps:
(1) the CROS station receiver 5 receives signals of a plurality of satellites 3, the intersection point of the signals of the plurality of satellites 3 is determined as positioning information of the CROS station receiver 5, and the CROS station receiver 5 adopts an RTK positioning mode to obtain a differential signal according to the positioning information and the earth coordinate information of the CROS station receiver 5;
after receiving a plurality of satellite signals, the CROS station receiver gathers the plurality of satellite signals to obtain final positioning information, and is more accurate, but the positioning information received by the CROS station receiver is actually positioning after atmospheric refraction, and the positioning information is different from the actual coordinates of the earth of the CROS station receiver, so that the positioning information received by the CROS station receiver is compared with the actual coordinates of the earth to obtain differential signals, and the differential signals are actually actual differences between the positioning information received by the CROS station receiver and the actual coordinates of the earth.
(2) The wireless remote terminal 2 receives signals of a plurality of satellites 3, and the intersection point of the signals of the plurality of satellites 3 is determined as the positioning information of the wireless remote terminal 2;
(3) the CROS station receiver 5 sends the differential signal to the wireless AP (4), the wireless remote terminal and the wireless AP (4) are in wireless communication to receive the differential signal, the wireless remote terminal 2 adopts an RTK positioning mode, and earth coordinate information of the wireless remote terminal 2 is obtained according to the positioning information and the differential signal obtained in the step (2);
the satellite signals directly received by the wireless remote terminal are also refracted by the atmosphere and are not real information of the wireless remote terminal, so that the satellite signals obtained by the wireless remote terminal can be processed according to the differential signals obtained by calculation before, and the exact earth coordinates of the wireless remote terminal are obtained.
(4) The wireless remote terminal 2 processes the earth coordinate information obtained in the step (3) to obtain coordinates in a rectangular coordinate system with the tower crane 1 as an origin;
the position of the wireless remote terminal cannot be intuitively reflected by the earth coordinate in the actual operation process, so that the rectangular coordinate system is established by taking the tower crane as an origin, and the position of the wireless remote terminal can be determined according to the position of the wireless remote terminal in the rectangular coordinate system.
(5) And (4) the wireless remote terminal 2 sends the coordinate information obtained in the step (4) to other wireless remote terminals 2 through the wireless AP (4).
The finally obtained position of the wireless remote terminal can reach the sub-meter positioning precision.
After the positioning information of other tower crane drivers is obtained by each tower crane driver of the tower crane 1 through the steps, the work tasks are distributed according to the positioning information of different tower crane drivers, the tower crane 1 is controlled, the position change of each tower crane driver is concerned at any time, and the potential safety hazard is avoided in the operation process.
The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (6)
1. An unmanned tower machine positioning system which characterized in that: the system comprises a plurality of wireless remote terminals arranged around the tower crane, wherein each wireless remote terminal is communicated with a control system of the tower crane, and the system also comprises a CORS station receiver, the CORS station receiver receives a positioning signal of a satellite, the CORS station receiver is connected to a wireless AP (access point) and is accessed into a local area network, and the wireless AP is communicated with the plurality of wireless remote terminals.
2. The unmanned tower crane positioning system of claim 1, wherein: and the CPRS station receiver is installed at the top end of the tower crane.
3. The unmanned tower crane positioning system of claim 1, wherein: the wireless remote terminal is a tablet computer provided with a tower crane control operation system.
4. The unmanned tower crane positioning system of claim 1, wherein: the plurality of wireless remote terminals are respectively positioned on the front side, the rear side, the left side and the right side of the tower crane.
5. The unmanned tower crane positioning system of claim 1, wherein: a positioning module is configured in the wireless remote terminal.
6. A positioning method of the unmanned tower crane positioning system as claimed in claim 1 comprises the following steps: the method is characterized in that: the method comprises the following steps:
(1) the CROS station receiver receives signals of a plurality of satellites, an intersection point of the signals of the satellites is determined as positioning information of the CROS station receiver, and the CROS station receiver adopts an RTK positioning mode to obtain a differential signal according to the positioning information and the earth coordinate information of the CROS station receiver;
(2) the method comprises the steps that a wireless remote terminal receives signals of a plurality of satellites, and an intersection point of the signals of the satellites is determined as positioning information of the wireless remote terminal;
(3) the CROS station receiver sends the differential signal to the wireless AP, the wireless remote terminal and the wireless AP wirelessly communicate to receive the differential signal, the wireless remote terminal adopts an RTK positioning mode, and earth coordinate information of the wireless remote terminal is obtained according to the positioning information and the differential signal obtained in the step (2);
(4) the wireless remote terminal processes the earth coordinate information obtained in the step (3) to obtain coordinates in a rectangular coordinate system with the tower crane as an origin;
(5) and (4) the wireless remote terminal sends the coordinate information obtained in the step (4) to other wireless remote terminals through the wireless AP.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011025129.XA CN112346100A (en) | 2020-09-25 | 2020-09-25 | Positioning system and positioning method for unmanned tower crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011025129.XA CN112346100A (en) | 2020-09-25 | 2020-09-25 | Positioning system and positioning method for unmanned tower crane |
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Citations (8)
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|---|---|---|---|---|
| KR20110135809A (en) * | 2010-06-11 | 2011-12-19 | 한국전자통신연구원 | Precision positioning apparatus and method utilizing virtual reference station by wireless access point |
| CN104828698A (en) * | 2015-04-15 | 2015-08-12 | 华东师范大学 | Ad Hoc network-based crane automatic cruising system of Beidou positioning system, and method thereof |
| CN106185645A (en) * | 2016-09-13 | 2016-12-07 | 北京建筑大学 | A kind of GNSS dual-flow station construction crane machine |
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| CN110320540A (en) * | 2019-07-23 | 2019-10-11 | 南京九度卫星科技研究院有限公司 | The centralized Differential positioning method of high-precision |
| CN110642148A (en) * | 2019-10-23 | 2020-01-03 | 江苏星齐软件科技有限公司 | Control system and control method of unmanned tower crane |
| CN210393521U (en) * | 2019-05-17 | 2020-04-24 | 山东中建众力设备租赁有限公司 | Tower crane remote monitoring system |
| CN111186771A (en) * | 2020-02-27 | 2020-05-22 | 武汉港迪电气有限公司 | Remote tower crane intelligent control system |
-
2020
- 2020-09-25 CN CN202011025129.XA patent/CN112346100A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110135809A (en) * | 2010-06-11 | 2011-12-19 | 한국전자통신연구원 | Precision positioning apparatus and method utilizing virtual reference station by wireless access point |
| CN104828698A (en) * | 2015-04-15 | 2015-08-12 | 华东师范大学 | Ad Hoc network-based crane automatic cruising system of Beidou positioning system, and method thereof |
| CN106185645A (en) * | 2016-09-13 | 2016-12-07 | 北京建筑大学 | A kind of GNSS dual-flow station construction crane machine |
| CN108363074A (en) * | 2018-02-11 | 2018-08-03 | 南京信息工程大学 | Safety of tower crane based on Big Dipper ground strengthening system monitors system |
| CN210393521U (en) * | 2019-05-17 | 2020-04-24 | 山东中建众力设备租赁有限公司 | Tower crane remote monitoring system |
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| CN111186771A (en) * | 2020-02-27 | 2020-05-22 | 武汉港迪电气有限公司 | Remote tower crane intelligent control system |
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Application publication date: 20210209 |