CN217283390U

CN217283390U - Positioning base station, positioning terminal and bridge crane system used in bridge crane system

Info

Publication number: CN217283390U
Application number: CN202123193054.9U
Authority: CN
Inventors: 朱晓章; 黄伟
Original assignee: Kunchen Technology Co ltd
Current assignee: Kunchen Technology Co ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-08-23
Anticipated expiration: 2031-12-17

Abstract

The utility model discloses a bridge crane system with locate function, including location basic station, positioning terminal. The positioning base station is erected in an area with poor GNSS positioning quality and comprises a positioning signal transceiving antenna, a positioning signal transceiving module, a control module, a GNSS antenna, a GNSS module, a data transmission module, a storage module and a power module. An ultra-wideband positioning base station is arranged in an area where GNSS signals need to be blinded, and an ultra-wideband positioning terminal matched with the ultra-wideband positioning base station for use is arranged on a device to be positioned. The positioning terminal can utilize GNSS signals to calculate position information in a GNSS signal coverage area, can utilize ultra-wideband positioning signals interacted with a positioning base station to obtain position information of the positioning terminal in an area with poor GNSS positioning quality, is additionally provided with a GNSS antenna which extends to the GNSS signal coverage area and can receive the GNSS signals and a GNSS module which is matched with the GNSS antenna to be used, so that when the positioning base station moves along with a bridge crane, the position of the positioning base station can be obtained in real time.

Description

Positioning base station, positioning terminal and bridge crane system used in bridge crane system

Technical Field

The utility model relates to a wireless communication, more specifically, the utility model relates to a location field.

Background

With the development of port automation and intellectualization, the proportion of business requirements such as intelligent scheduling, intelligent remote control and intelligent tallying gradually rises, and port intelligent operation becomes the core direction of development. The bridge crane is an important component in port operation, is mainly used for carrying cargos such as containers and the like in the situations of cargo ships and land, cargo ships and vehicles, land and vehicles and the like, and is used for replacing manual loading and unloading. However, the bridge crane needs to be accurately aligned in the using process, the technical requirement on operators is high, and how to provide an automatic and intelligent bridge crane system in order to realize the efficient operation of the bridge crane is a problem to be solved urgently by the person in the art.

In order to realize automation of an axle suspension system, high-precision positioning of equipment, vehicles, personnel, goods and the like is required to be realized, and then intelligent functions of automatic alignment, emergency braking, collision avoidance, personnel/vehicle entrance and exit tracking, border crossing alarm, overspeed alarm, track playback and the like are realized. Existing positioning devices generally perform positioning based on gnss (global Navigation Satellite system) Satellite signals, such as american GPS Satellite signals, russian GLONASS Satellite signals, european union GALILEO Satellite signals, and chinese beidou Satellite signals. However, the bridge crane mostly adopts a steel frame structure, containers in the surrounding area are stacked highly, the channel is narrow, the vehicle quantity is dense, the satellite signals are seriously shielded, the positioning cannot be realized, and a positioning system needs to be built in the bridge crane system to realize the positioning and blind-repairing.

UWB (Ultra wide band) is a carrier-free communication technology that uses non-sinusoidal narrow pulses on the nanosecond to picosecond level to transmit data. The UWB has the advantages of narrow pulse width, strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, low transmitting power and the like, and a positioning system using the UWB signals as positioning signals can make up for the area which cannot be covered by the sky satellite. When positioning is performed by using UWB signals, TDOA (Time Difference of Arrival) or TOA (Time of Arrival) positioning algorithms are often used, and the algorithms all need to use the position information of the positioning base station in the process of resolving the target position. The positioning base station in the existing positioning system is fixed, only the position information of the positioning base station needs to be measured when the positioning base station is arranged, and the position of the positioning base station is generally not changed. However, when the positioning system is applied to the bridge crane, the position of the positioning base station arranged on the bridge crane system can be changed at any time because the bridge crane is frequently moved during operation. Therefore, how to quickly and accurately acquire the position information of the positioning base station in the bridge crane system becomes an urgent problem to be solved by researchers in the field.

SUMMERY OF THE UTILITY MODEL

According to an aspect of the utility model, a positioning base station that uses in bridge crane system is disclosed, erect in the not good enough area of GNSS location quality, including positioning signal transceiver antenna, positioning signal transceiver module, control module, GNSS antenna, GNSS module, data transmission module, storage module, and power module, its characterized in that, positioning signal transceiver antenna couples to positioning signal transceiver module to send the positioning signal that positioning signal transceiver module produced, and/or receive the positioning signal that other positioning base stations or positioning terminal sent and transmit for positioning signal transceiver module and handle, the positioning signal is the ultra wide band positioning signal; the control module is coupled to the positioning signal transceiving module and is used for recording the time information of the positioning signal transmitted and/or received by the positioning signal transceiving module; the GNSS antenna extends to a GNSS signal coverage area to receive GNSS signals; the GNSS module is coupled to the GNSS antenna and used for resolving the position information of the positioning base station by utilizing the GNSS signals acquired from the GNSS antenna and transmitting the resolved position information of the positioning base station to the control module; the storage module is used for storing ephemeris data of the positioning base station, wherein the ephemeris data comprises one or more of the serial number of the positioning base station, the position of the positioning base station and the time sequence relation of the positioning base station for transmitting the positioning signal, and the position of the positioning base station stored by the storage module is acquired from the control module in real time; the data transmission module is coupled to the control module and the storage module, and is used for sending the time information of transmitting and/or receiving the positioning signals received from the control module and the ephemeris data of the positioning base station received from the storage module to other components in the system and receiving a control instruction comprising a timing distribution instruction; the power module provides electric energy for the positioning base station.

According to another aspect of the utility model, a positioning terminal used with a positioning base station used in a bridge crane system is disclosed, comprising a positioning signal transceiving antenna, a positioning signal transceiving module, a control module, a data transmission module, a storage module and a power module, which is characterized in that the positioning signal transceiving antenna is coupled to the positioning signal transceiving module to send a positioning signal generated by the positioning signal transceiving module and/or receive a positioning signal sent by the positioning base station and transmit the positioning signal to the positioning signal transceiving module for processing, wherein the positioning signal is an ultra-wideband positioning signal; the storage module is used for storing ephemeris data of the positioning base station, wherein the ephemeris data comprises one or more of the serial number of the positioning base station, the position of the positioning base station and the time sequence relation of the positioning base station for transmitting the positioning signal; the control module is coupled to the positioning signal transceiver module and the storage module and used for recording time information of transmitting and/or receiving the positioning signals by the positioning signal transceiver module, resolving the position information of the positioning terminal by using the implementation information and ephemeris data of the positioning base station stored in the storage module, and sending the resolved position information to the storage module for storage; the data transmission module is coupled to the control module, and is used for receiving the position information of the positioning terminal from the control module, sending the position information to other components in the system, and receiving ephemeris data of the positioning base station from other components; the power module provides electric energy for the positioning terminal.

According to another aspect of the present invention, a bridge crane system with positioning function is disclosed, comprising a positioning base station, a positioning terminal, and a server, wherein the positioning base station and the positioning terminal acquire position information of the positioning terminal by using an interactive ultra-wideband positioning signal in an area with poor GNSS positioning quality, and the positioning base station further comprises a GNSS antenna extending to a GNSS signal coverage area to receive a GNSS signal for acquiring position information of the positioning base station; the server comprises a control module, a data transmission module, a storage module, a man-machine interaction module and a power supply module, wherein the control module is used for generating a control instruction for the positioning base station and/or the positioning terminal; the data transmission module is coupled to the control module, and is used for sending the control instruction received from the control module to the positioning base station and/or the positioning terminal, and also used for receiving ephemeris data of the positioning base station from the positioning base station, receiving position information from the positioning terminal, and sending one or more of the position information of other positioning terminals to the positioning terminal; the storage module is used for storing ephemeris data of the positioning base station, position information of the positioning terminal and a control instruction generated by the control module; the man-machine interaction module is coupled to the control module and comprises one or more of a display, a loudspeaker, a sound pickup and an input keyboard, so that managers can monitor and manage the position information of the positioning base station and the device to be positioned; the power module provides electric energy for the server.

The utility model discloses a bridge crane system with locate function, through the region that mends the blind to the GNSS signal in needs, for example bridge crane below, container intensive region, indoor etc. set up ultra wide band location basic station to set up the ultra wide band positioning terminal who uses with the cooperation of ultra wide band location basic station on the device of awaiting positioning. The positioning terminal can use the GNSS signal to resolve the position information in the GNSS signal coverage area, and can use the ultra-wideband positioning signal interacted with the positioning base station to obtain the position information of the positioning terminal in the area with poor GNSS positioning quality, so that the whole area positioning is realized. And the ultra-wideband positioning has the characteristics of high precision, high stability, all-time and all-weather, and can meet the positioning requirement of a bridge crane scene. And further, intelligent functions of automatic alignment, emergency braking, collision prevention, personnel/vehicle entrance and exit tracking, boundary crossing alarm, overspeed alarm, track playback and the like of the bridge crane system are realized. In addition, a GNSS antenna which extends to a GNSS signal coverage area and can receive GNSS signals is additionally arranged on the positioning base station, and a GNSS module which is matched with the GNSS antenna for use is used for acquiring the position information of the positioning base station according to the GNSS signals. When the positioning base station moves along with the bridge crane, the position of the positioning base station is obtained in real time.

Drawings

Fig. 1 is a schematic diagram of a bridge crane system 100 with a positioning function according to an embodiment of the present invention;

fig. 2 is a block diagram of a positioning base station 200 according to an embodiment of the present invention;

fig. 3 is a block diagram of a positioning terminal 300 according to an embodiment of the present invention;

fig. 4 shows a modular schematic of a server 400 according to an embodiment of the invention.

Detailed Description

Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.

Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected to" or "directly coupled to" another element, there are no intervening elements present. Like reference numerals refer to like elements. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 is a schematic diagram of a bridge crane system 100 with a positioning function according to an embodiment of the present invention. The bridge system 100 comprises n positioning base stations BS1-BSn and an unlimited number of devices MS to be positioned. In one embodiment, n is an integer greater than or equal to 3. In one embodiment, the n positioning base stations are erected in areas where GNSS signals need to be blinded, such as under a bridge crane, in areas with dense containers, indoors, and the like. The n positioning base stations further comprise GNSS antennas which extend to a GNSS signal coverage area and can receive GNSS signals, and GNSS modules which are matched with the GNSS antennas for use and used for acquiring the position information of the positioning base stations according to the GNSS signals. When the positioning base station moves along with the bridge crane, the position of the positioning base station is obtained in real time.

And a positioning terminal capable of receiving and transmitting positioning signals with a positioning base station is arranged on the device to be positioned MS. Since the positioning terminal is disposed on the device to be positioned, the positioning terminal and the device to be positioned may be considered to have a known relative position relationship, and even in some cases, since the distance between the positioning terminal and the device to be positioned is small, the positions of the positioning terminal and the device to be positioned may be considered to be approximately the same, therefore, in this context, for convenience of description, the positioning of the positioning terminal is regarded as the positioning of the device to be positioned, and in this regard, for example, the description of transmitting and receiving the positioning signal between the positioning base station and the positioning terminal and the description of transmitting and receiving the positioning signal between the positioning base station and the device to be positioned have the same meaning. In one embodiment, the positioning terminals disposed on the device to be positioned are ultra-wideband positioning terminals, and the ultra-wideband positioning signals are interacted (or transmitted and received) between each positioning terminal and the positioning base station. The positioning system 100 records the Time information of transmitting and/or receiving the positioning signal, and uses the position information of the positioning base station BS and the Time information of transmitting and/or receiving the positioning signal to calculate the position information of the device MS to be positioned by using TDOA (Time Difference of Arrival) or TOA (Time of Arrival). The bridge crane system 100 further includes a server SE for implementing a master control function of the system, including managing and monitoring each positioning base station and a device to be positioned, storing location information, monitoring faults, alarming for abnormalities, analyzing data, and the like.

In one embodiment, the n positioning base stations BS1-BSn are clock synchronized, and the manner of synchronization includes wired synchronization, wireless synchronization, and in one embodiment, the bridge system 100 further includes a synchronization controller for controlling the synchronization of the positioning base stations and implementing the timing distribution function.

Each positioning base station transmits a positioning signal according to a time sequence distributed by the system, and the positioning terminal receives the positioning signal and automatically calculates the position information of the positioning terminal by using ephemeris data of the positioning base station and time information of the received positioning signal. The "ephemeris data" of the positioning base station is similar to the ephemeris data in satellite positioning, and includes one or more of the number of the positioning base station, the position of the positioning base station, and the timing relationship of the positioning base station transmitting the positioning signal. And the position of the positioning base station is calculated by the positioning base station by utilizing the received GNSS signals received by the GNSS antenna extending to the GNSS signal coverage area. In one embodiment, the positioning base station further sends its acquired location information to the device MS and/or the server SE to be positioned. In another embodiment, when the positioning base station detects that its own position changes, it sends the changed position information to the device MS and/or the server SE to be positioned. In yet another embodiment, the positioning base station sends the current position information to the device to be positioned MS and/or the server SE at certain time intervals.

In one embodiment, the "ephemeris data" of the positioning base station is issued by the positioning base station for receiving from the positioning base station when the device MS to be positioned is located in the coverage area of the positioning base station. In another embodiment, the "ephemeris data" of the positioning base station is stored in the server SE, the server SE receives and stores the position information of the positioning base station sent by the positioning base station, and generates the "ephemeris data" of the positioning base station according to the position information, and the MS as the position-awaiting device may download part or all of the "ephemeris data" of the positioning base station from the server SE as needed.

In one embodiment, the positioning terminal is in a coverage area of GNSS signals, and can use the GNSS signals to solve the position information. In the area with poor GNSS positioning quality, the position information of the GNSS positioning base station can be obtained by utilizing the ultra-wideband positioning signal interacted with the positioning base station, so that the whole area positioning is realized. In one embodiment, when the GNSS signal and the ultra-wideband positioning signal are simultaneously covered, the positioning terminal may combine the positioning results of the two signals according to the system confidence to obtain an optimized positioning result, so as to improve the positioning accuracy and stability.

In another embodiment, the positioning terminal includes a motion information collecting function for collecting motion information of the device MS to be positioned by using a gyroscope, a speedometer, an accelerometer, or the like, so as to correct the position information calculated by using the positioning signal.

In one embodiment, the bridge crane system 100 is covered with a data transmission network, so that the server SE can exchange information with each positioning base station and each positioning terminal. The network comprises one or more of WIFI, Ethernet, Bluetooth, Zigbee and a cellular network. The server SE, the positioning base station and the positioning terminal are equipped with interface modules adapted to the network.

In one embodiment, the interaction information includes that the positioning base station sends "ephemeris data" of the positioning base station to the positioning terminal and/or the server SE, the positioning terminal sends position information obtained by self-calculation to the positioning base station and/or the server SE, the server SE sends "ephemeris data" of the positioning base station to the positioning terminal, the server SE sends a control instruction to the positioning base station and/or the positioning terminal, and the server SE sends position information of other devices to be positioned to the positioning terminal.

In another embodiment, the "ephemeris data" of the positioning base station, which is sent by the positioning base station to the positioning terminal, is carried in the positioning signal, and the positioning signal is an ultra-wideband positioning signal.

In one embodiment, when the device to be positioned is a vehicle, the positioning terminal comprises a CAN interface and/or a uart serial port which interact with a vehicle control system to obtain motion information such as speed and acceleration from the vehicle control system, and/or transmit positioning information to the vehicle control system, so that the vehicle control system displays position information to a user through a display screen, and various intelligent functions of automatic vehicle alignment, emergency braking, collision avoidance, boundary crossing alarm, track playback and the like are realized.

In another embodiment, a device to be positioned includes a plurality of positioning terminals, so as to calculate the posture information of the device to be positioned according to the position information obtained by the plurality of positioning terminals. Or when a certain positioning terminal has a fault, starting other standby positioning terminals for positioning.

Fig. 2 shows a schematic block diagram of a positioning base station 200 according to an embodiment of the present invention. As shown in fig. 2, the positioning base station 200 illustratively includes a positioning signal transceiver antenna 201, a positioning signal transceiver module 202, a control module 203, a GNSS antenna 204, a GNSS module 205, a data transmission module 206, a storage module 207, and a power supply module 208. The positioning signal transceiver antenna 201 is coupled to the positioning signal transceiver module 202, so as to transmit a positioning signal generated by the positioning signal transceiver module 202, or receive a positioning signal transmitted by another positioning base station or a positioning terminal, and transmit the positioning signal to the positioning signal transceiver module 202 for processing. The positioning signal is an ultra-wideband positioning signal. The control module 203 is coupled to the positioning signal transceiver module 202, and is configured to record time information of the positioning signal transmitted and/or received by the positioning signal transceiver module 202. The GNSS antenna 204 extends to a GNSS signal coverage area to receive GNSS signals, and the GNSS module 205 is coupled to the GNSS antenna 204 and configured to calculate the position information of the positioning base station 200 by using the GNSS signals acquired from the GNSS antenna and transmit the calculated position information of the positioning base station 200 to the control module 203. The storage module 207 is configured to store ephemeris data of the positioning base station 300, where the ephemeris data includes one or more of a number of the positioning base station, a position of the positioning base station, and a timing relationship of the positioning base station transmitting a positioning signal. Wherein the position of the positioning base station stored in the storage module 207 is updated in real time from the control module 203. The data transmission module 206 is coupled to the control module 203 and the storage module 207, and is configured to transmit the time information of transmitting and/or receiving the positioning signal received from the control module 203 and the ephemeris data of the positioning base station received from the storage module 207 to other components in the system. In one embodiment, the control module 203 triggers the data transmission module 207 to transmit the ephemeris data when detecting that the position of the positioning base station changes; in another embodiment, the control module 203 controls the data transmission module 207 to transmit the ephemeris data at certain time intervals. The data transmission module 206 is further configured to receive a control command such as a timing distribution command. In one embodiment, the data transmission module 206 further comprises one or more of a cellular mobile communication module, a WiFi module, a bluetooth module, an RF radio frequency module, a POE module, a Zigbee module, and a bus interface, for enabling the positioning base station to realize data transmission through one or more of a wireless cellular network, WiFi, bluetooth, ethernet, Zigbee, CAN, RS484 network. The power module 208 is coupled to other modules to provide power to the other modules. In one embodiment, the power module 208 includes an energy converter to convert ambient energy, such as solar energy, wind energy, thermal energy, etc., into electrical energy.

Fig. 3 is a block diagram of a positioning terminal 300 according to an embodiment of the present invention. As shown in fig. 3, the positioning terminal 300 illustratively includes a positioning signal transceiving antenna 301, a positioning signal transceiving module 302, a control module 303, a data transmission module 304, a storage module 305, and a power supply module 306. The positioning signal transceiver antenna 301 is coupled to the positioning signal transceiver module 302, so as to transmit a positioning signal generated by the positioning signal transceiver module 302, or receive a positioning signal transmitted by a positioning base station and transmit the positioning signal to the positioning signal transceiver module 302 for processing. The positioning signal is an ultra-wideband positioning signal. The control module 303 is coupled to the positioning signal transceiver module 302, and is configured to record time information of the positioning signal transmitted and/or received by the positioning signal transceiver module 302, and calculate position information of the positioning terminal 300. The storage module 305 is configured to store ephemeris data of the positioning base station, where the ephemeris data includes one or more of a number of the positioning base station, a position of the positioning base station, and a timing relationship of the positioning base station transmitting the positioning signal. The control module 303 also calculates the position information of the positioning terminal 300 using the ephemeris data of the positioning base station stored in the storage module 305, and sends the calculated position information to the storage module 305 for storage. The data transmission module 304 is coupled to the control module 303, and is configured to receive the location information of the positioning terminal from the control module 303 and send the location information to other components in the system. The data transmission module 304 is also used for receiving ephemeris data of the positioning base station from other components. In one embodiment, the data transmission module 304 further comprises one or more of a cellular mobile communication module, a WiFi module, a bluetooth module, an RF radio frequency module, a POE module, a Zigbee module, and a bus interface, for enabling the positioning base station to realize data transmission through one or more of a wireless cellular network, WiFi, bluetooth, ethernet, Zigbee, CAN, RS484 network. The power module 306 is coupled to other modules to provide power to other modules. In one embodiment, the power module 306 includes an energy converter to convert ambient energy, such as solar energy, wind energy, thermal energy, etc., into electrical energy.

In one embodiment, the positioning terminal 300 further includes a GNSS module 307 to solve the position information using GNSS signals in a GNSS signal coverage area. When positioning can be achieved by using both the GNSS module 307 and the positioning signal transceiver module 302, the control module 303 combines the positioning results of the two signals according to the system confidence to obtain an optimized positioning result. In another embodiment, the positioning terminal 300 further includes an IMU module 308, configured to collect motion state information of the positioning terminal 300, so as to modify the position information.

In an embodiment, the positioning terminal 300 further includes a vehicle interface module 309, configured to implement data interaction with a vehicle control system when a device to be positioned attached to the positioning terminal 300 is a vehicle, so as to obtain motion information such as speed and acceleration from the vehicle control system, and/or transmit positioning information to the vehicle control system, so that the vehicle control system displays position information to a user through a display screen, and implement various intelligent functions of automatic alignment, emergency braking, collision avoidance, boundary-crossing alarm, track playback, and the like of the vehicle. In one embodiment, the in-vehicle interface module 309 specifically includes a CAN interface and/or a uart serial port.

Fig. 4 shows a modular schematic of a server 400 according to an embodiment of the invention. Fig. 4 presents a modular schematic of a server 400 in accordance with an embodiment of the present invention. As shown in fig. 4, the server 400 illustratively includes a control module 401, a data transmission module 402, a storage module 403, a human-computer interaction module 404, and a power module 405. The control module 401 is configured to generate a control instruction for positioning a base station and/or a positioning terminal. The data transmission module 402 is coupled to the control module 401, and configured to send the control instruction received from the control module 401 to a positioning base station and/or a positioning terminal. In one embodiment, the data transmission module 402 is further configured to perform one or more of receiving ephemeris data of a positioning base station from the positioning base station, receiving position information from a positioning terminal, and sending position information of other positioning terminals to the positioning terminal. In one embodiment, the data transmission module 402 further comprises one or more of a cellular mobile communication module, a WiFi module, a bluetooth module, an RF radio frequency module, a POE module, a Zigbee module, and a bus interface, for enabling the positioning base station to realize data transmission through one or more of a wireless cellular network, WiFi, bluetooth, ethernet, Zigbee, CAN, RS484 network. The storage module 403 is configured to store ephemeris data of the positioning base station, location information of the positioning terminal, a control instruction generated by the control module, and the like. The control module 402 is further configured to implement functions of managing and monitoring each positioning base station and a device to be positioned, monitoring faults, alarming for abnormalities, analyzing data, and the like by using the position information of the positioning terminal received from the data transmission module 402. The human-computer interaction module 404 is coupled to the control module 402, and includes a display, a speaker, a sound pickup, an input keyboard, and the like, so that a manager can monitor and manage the position information of the positioning base station and the device to be positioned. The power module 405 is coupled to each of the other modules to provide power to each of the other modules.

The utility model discloses a bridge crane system with locate function, through the region that mends the blind to the GNSS signal in needs, for example bridge crane below, container intensive region, indoor etc. set up ultra wide band location basic station to set up the ultra wide band positioning terminal who uses with the cooperation of ultra wide band location basic station on the device of awaiting positioning. The positioning terminal can use the GNSS signal to calculate the position information in the GNSS signal coverage area, and can use the ultra-wideband positioning signal interacted with the positioning base station to obtain the position information of the positioning terminal in the area with poor GNSS positioning quality, so that the whole area positioning is realized. And the ultra-wideband positioning has the characteristics of high precision, high stability, all-time and all-weather, and can meet the positioning requirement of a bridge crane scene. And further, intelligent functions of automatic alignment, emergency braking, collision prevention, personnel/vehicle entrance and exit tracking, boundary crossing alarm, overspeed alarm, track playback and the like of the bridge crane system are realized. In addition, a GNSS antenna which extends to a GNSS signal coverage area and can receive GNSS signals is additionally arranged on the positioning base station, and a GNSS module which is matched with the GNSS antenna for use is used for acquiring the position information of the positioning base station according to the GNSS signals. When the positioning base station moves along with the bridge crane, the position of the positioning base station is obtained in real time.

As mentioned above, while the preferred embodiments of the present invention have been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiments. Rather, the invention should be determined entirely by reference to the claims that follow.

Claims

1. A positioning base station used in a bridge crane system is erected in an area with poor GNSS positioning quality and comprises a positioning signal transceiving antenna, a positioning signal transceiving module, a control module, a GNSS antenna, a GNSS module, a data transmission module, a storage module and a power supply module,

the positioning signal transceiving antenna is coupled to the positioning signal transceiving module so as to send a positioning signal generated by the positioning signal transceiving module and/or receive positioning signals sent by other positioning base stations or positioning terminals and transmit the positioning signals to the positioning signal transceiving module for processing, and the positioning signals are ultra-wideband positioning signals;

the control module is coupled to the positioning signal transceiving module and is used for recording the time information of the positioning signal transmitted and/or received by the positioning signal transceiving module;

the GNSS antenna extends to a GNSS signal coverage area to receive GNSS signals;

the GNSS module is coupled to the GNSS antenna and used for resolving the position information of the positioning base station by utilizing the GNSS signals acquired from the GNSS antenna and transmitting the resolved position information of the positioning base station to the control module;

the storage module is used for storing ephemeris data of a positioning base station, wherein the ephemeris data comprises one or more of the serial number of the positioning base station, the position of the positioning base station and the time sequence relation of the positioning base station for transmitting a positioning signal, and the position of the positioning base station stored by the storage module is acquired from the control module in real time;

the data transmission module is coupled to the control module and the storage module, and is used for sending the time information of transmitting and/or receiving the positioning signals received from the control module and the ephemeris data of the positioning base station received from the storage module to other components in the system and receiving a control instruction comprising a timing distribution instruction;

the power module provides electric energy for the positioning base station.

2. A positioning base station for use in a bridge crane system as claimed in claim 1, wherein the data transmission module comprises one or more of a cellular mobile communication module, a WiFi module, a bluetooth module, an RF radio frequency module, a POE module, a Zigbee module, a bus interface for enabling data transmission by the positioning base station over one or more of a wireless cellular network, WiFi, bluetooth, ethernet, Zigbee, CAN, RS484 network.

3. The positioning base station for use in a bridge crane system as claimed in claim 1, wherein the control module triggers the data transmission module to transmit the ephemeris data when detecting a change in position of the positioning base station, or the control module controls the data transmission module to transmit the ephemeris data at predetermined time intervals.

4. A positioning terminal used in cooperation with a positioning base station used in a bridge crane system comprises a positioning signal transceiving antenna, a positioning signal transceiving module, a control module, a data transmission module, a storage module and a power supply module, and is characterized in that,

the positioning signal transceiving antenna is coupled to the positioning signal transceiving module so as to send a positioning signal generated by the positioning signal transceiving module and/or receive a positioning signal sent by the positioning base station and transmit the positioning signal to the positioning signal transceiving module for processing, and the positioning signal is an ultra-wideband positioning signal;

the storage module is used for storing ephemeris data of the positioning base station, wherein the ephemeris data comprises one or more of the serial number of the positioning base station, the position of the positioning base station and the time sequence relation of the positioning base station for transmitting the positioning signal;

the control module is coupled to the positioning signal transceiving module and the storage module and used for recording time information of transmitting and/or receiving the positioning signal by the positioning signal transceiving module, resolving the position information of the positioning terminal by using the implementation information and ephemeris data of the positioning base station stored in the storage module, and sending the resolved position information to the storage module for storage;

the data transmission module is coupled to the control module, and is used for receiving the position information of the positioning terminal from the control module, sending the position information to other components in the system, and receiving the ephemeris data of the positioning base station from other components;

the power module provides electric energy for the positioning terminal.

5. The positioning terminal of claim 4, wherein the power module includes an energy converter to convert ambient energy into electrical energy to provide the power to the positioning terminal.

6. The positioning terminal of claim 4, wherein the data transmission module comprises one or more of a cellular mobile communication module, a WiFi module, a Bluetooth module, an RF module, a POE module, a Zigbee module, a bus interface for the positioning base station to effect data transmission over one or more of a wireless cellular network, WiFi, Bluetooth, Ethernet, Zigbee, CAN, RS484 network.

7. The positioning terminal of claim 4, further comprising a GNSS module for implementing the positioning terminal in a GNSS signal coverage area, and using the GNSS signal to resolve the position information.

8. The positioning terminal of claim 4, wherein the positioning terminal further comprises an IMU module for collecting motion state information of the positioning terminal to correct the position information.

9. The positioning terminal according to claim 4, wherein the positioning terminal further comprises a vehicle interface module, configured to implement data interaction with a vehicle control system when the device to be positioned attached to the positioning terminal is a vehicle, so as to obtain motion information such as speed and acceleration from the vehicle control system, and/or transmit positioning information to the vehicle control system, so that the vehicle control system displays position information to a user through a display screen, and implement automatic alignment, emergency braking, collision avoidance, boundary crossing alarm, and trajectory playback of the vehicle, where the vehicle interface module specifically includes a CAN interface and/or a uart serial port.

10. A bridge crane system with positioning function, comprising a positioning base station according to any one of claims 1 to 3, a positioning terminal according to any one of claims 4 to 9, and a server, wherein the positioning base station and the positioning terminal are caused to acquire position information of the positioning terminal by using an interactive ultra-wideband positioning signal in an area with poor GNSS positioning quality, and the positioning base station further comprises a GNSS antenna extending to a GNSS signal coverage area to receive the GNSS signal for acquiring the position information of the positioning base station;

wherein the server comprises a control module, a data transmission module, a storage module, a man-machine interaction module and a power supply module,

the control module is used for generating a control instruction for the positioning base station and/or the positioning terminal;

the data transmission module is coupled to the control module, and is configured to send the control instruction received from the control module to the positioning base station and/or the positioning terminal, and is further configured to perform one or more of receiving ephemeris data of the positioning base station from the positioning base station, receiving position information from the positioning terminal, and sending position information of other positioning terminals to the positioning terminal;

the storage module is used for storing ephemeris data of the positioning base station, position information of the positioning terminal and a control instruction generated by the control module;

the man-machine interaction module is coupled to the control module and comprises one or more of a display, a loudspeaker, a sound pickup and an input keyboard, so that managers can monitor and manage the position information of the positioning base station and the device to be positioned;

the power module provides electric energy for the server.