CN102033533B - Differential GPS technology-based industrial stock ground real-time positioning and monitoring system and method - Google Patents
Differential GPS technology-based industrial stock ground real-time positioning and monitoring system and method Download PDFInfo
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Abstract
The invention provides a differential global position system (GPS) technology-based industrial stock ground real-time positioning and monitoring system for solving the problem of optimized management of an industrial stock ground. The system comprises a monitoring center, a base station terminal and a plurality of stacker-reclaimer mobile station terminals; the monitoring center comprises a stacker-reclaimer positioning and running state database, a stock ground raw material information database, a stacker-reclaimer rule database, a data communication module, a real-time monitoring and display module, a raw material information and stockpile distribution graph maintenance module and an analysis and alarm module; the base station terminal comprises a base station GPS receiver and a matched antenna, a base station radio and a matched antenna; and the stacker-reclaimer mobile station terminals comprise a mobile station GPS receiver and a matched antenna, a mobile station radio and a matched antenna. The system has the characteristics of good instantaneity and high positioning precision, and can realize accurate positioning of centimeter scale; and compared with other positioning technology, the system has low cost and strong adaptability, is not disturbed by the weather and the environment, has no accumulative error and the like.
Description
Technical field
The present invention relates to monitoring field, industrial stock ground, relate in particular to a kind of industrial stock ground real-time positioning supervisory system and method.
Background technology
In industrial enterprise, raw material is effectively managed, be to guarantee production even running, the basis of improving the quality of products.But to the monitoring and the management of raw material, particularly industrial stock ground, be metallurgical always, the weak link in the industry production such as thermoelectricity.
The industry stock ground belongs to open area, is used for the accumulation deposit coke, industrial bulk material such as ore.Heap/the extract operation of raw material is accomplished through combination bucket-wheel stacker reclaimer.Because the open-air characteristic in stock ground is difficult to the place use is planned that accurately bulk material has enormous amount, and is various in style, piles up position, out-of-shape in addition, labile characteristics are given the standardization that improves the raw material stacking and taking operation, become more meticulous and have caused a difficult problem.Particularly owing to can't accurately monitor the stacker-reclaimer real time position, to pile up intensively at raw material, under the not good situation of night lighting condition, the accident of getting wrong raw material happens occasionally, and causes the loss in the production.
Can find out, realize the optimum management in industrial stock ground, except need be the kind of field raw material on the ground; Quantity; Data such as accumulation distribution plan are carried out outside the electronic management, and how real-time the problem of needing solution most badly is, obtains the position and the attitude at stacker-reclaimer place exactly.At present, to this problem, more existing positive trials.The more common two kinds of methods that have are that ground 1. on the scene is installed laser range finder stacker-reclaimer is positioned; 2. at stacker-reclaimer cantilever luffing mechanism, scrambler is installed on rotating mechanism and the running mechanism is taken measurement of an angle and distance, and position in view of the above, this technology sees that publication number is the Chinese invention patent ublic specification of application of CN 101104480A.But these two kinds of methods all have its inherent shortcoming: the first method cost is high, and influenced greatly by weather condition, and is not good in misty rain weather result of use, and the life-span is short; Though the second method cost is lower, its measurement mechanism is installed on the moving-member, and bigger cumulative errors is arranged, and is subject to mechanical vibration, and the factor of dust is disturbed, and needs periodic calibration, and failure rate is high.
Summary of the invention
The present invention's technical matters at first to be solved provides a kind of industrial stock ground real-time positioning supervisory system based on the differential GPS technology, to solve the difficult problem of industrial stock ground optimum management.For this reason, the present invention adopts following technical scheme:
A kind of industrial stock ground real-time positioning supervisory system based on the differential GPS technology is characterized in that, comprises a Surveillance center, a base station terminal and a plurality of stacker-reclaimer movement stations terminal;
Said Surveillance center comprises:
Stacker-reclaimer is located and the running state data storehouse, stores the locator data and the running state data of each stacker-reclaimer,
Stock ground raw material information database stores the raw material type data in current stock ground and the geographic distribution position data of each stockpile on the stock ground that raw material is piled up;
Heap is got then database of gauge, stores interior windrow of current production cycle and gets the material working rule;
The data communication module is used to receive from the stacker-reclaimer real-time positioning data of base station terminal and from the stacker-reclaimer running state data of external data source, and upgrades stacker-reclaimer location and running state data storehouse;
Real-time monitoring display module; Be used for showing current stock ground each stockpile geographic distribution position and raw material type, and calculate, show the running status of current time stacker-reclaimer according to the locator data and the operating state data of stacker-reclaimer according to the geographic distribution position data and the raw material type graphical data of stockpile;
Raw material information and stockpile distribution plan maintenance module; Be used to create, edit, delete raw material type data and the geographic distribution position data of stockpile on the stock ground; And input, editor on the stock ground stockpile geographic distribution position data and windrow and get the material working rule, and deposit stock ground raw material information database in and heap is got then database of gauge;
Analyze alarm module, be used for, get the then windrow in the database and get the material working rule and compare of gauge, when finding current stacker-reclaimer operating mistake, send warning with heap with current stacker-reclaimer running status;
Said base station terminal comprises:
Base station gps receiver and supporting antenna; Be used to obtain the longitude and latitude and the sea level elevation data of self position; And cooperate with stacker-reclaimer movement station terminal and to carry out calculus of differences, draw the locator data of movement station G PS antenna, and be transferred to the data communication module of Surveillance center;
Radio station, base station and supporting antenna: be used for carrying out data communication with stacker-reclaimer movement station terminal;
Said stacker-reclaimer movement station terminal comprises:
Station GPS receiver and supporting antenna: the longitude and latitude and the sea level elevation data that are used to obtain self position;
Movement station radio station and supporting antenna: be used for carrying out data communication with base station terminal.
Another technical matters to be solved of the present invention provides a kind of method of utilizing above-mentioned real-time positioning supervisory system to carry out the real-time positioning monitoring of industrial stock ground.For this reason, the present invention adopts following technical scheme:
The real-time positioning supervisory system is carried out the method for industrial stock ground real-time positioning monitoring, it is characterized in that it comprises following steps successively:
(1), a point in the selection stock ground is as the relative three-dimensional coordinate initial point in stock ground; Stacker-reclaimer movement station terminal gps antenna is placed this point; Use station GPS receiver and antenna, demarcate the stock ground longitude and latitude and the sea level elevation of three-dimensional coordinate initial point relatively;
(2), use the raw material information and the stockpile distribution plan maintenance module of Surveillance center; Through graphical editor or the form that imports from external data source; With stock ground raw material type data; And stockpile geographic distribution position data importing stock ground raw material information database, wherein, the true origin of stockpile geographic distribution position data is the relative three-dimensional coordinate initial point in the stock ground in the step (1);
(3), with the windrow of current production cycle and get the material operation and import heap and get then database of gauge, the windrow of said current production cycle and get the geographic distribution position data that the material working rule comprises current production cycle regulation heap, the raw material type data of getting and its place stockpile;
(4), movement station terminal and base station terminal are accepted the gps satellite positioning signal; The movement station terminal intercoms with base station terminal mutually simultaneously; Calculate the accurate longitude and latitude and the sea level elevation data of gps antenna position, movement station terminal with the Difference Calculation mode, and be uploaded to Surveillance center;
(5), import the stacker-reclaimer operating state data in real time into and deposit stacker-reclaimer location and running state data storehouse in from external data source;
(6), Surveillance center receives the longitude and latitude and the sea level elevation data of station GPS antenna position; And, calculate the position and the attitude information of stacker-reclaimer and deposit stacker-reclaimer location and running state data storehouse in according to the relative three-dimensional coordinate initial point in the described this locality of step (1);
(7), with step (6) result calculated, dynamically show by the form of the real-time monitoring display module of Surveillance center with three-dimensional picture; Analyze the running state data that alarm module reads current stacker-reclaimer, get the then current production cycle windrow in the database and get the material working rule and compare of gauge,, then report to the police automatically if be not inconsistent with heap.
Among the present invention, " locator data " of said stacker-reclaimer refers to the longitude and latitude and the sea level elevation data of the station GPS antenna position that GPS obtains; " position " of said stacker-reclaimer is meant the position of certain point of on stacker-reclaimer, choosing, with as stacker-reclaimer whole refer to the position.Because cantilever is the topmost motion of stacker-reclaimer, its rotation initial point can be thought the physical centre of stacker-reclaimer fuselage, exactly the position at reactor reclaimer fuselage place.Among the present invention, choose stacker-reclaimer cantilever rotation initial point referring to a little as the stacker-reclaimer position.That is, " position " of stacker-reclaimer just is meant the position at stacker-reclaimer cantilever rotation initial point place." attitude " of said stacker-reclaimer refers to the current angle of pitch of stacker-reclaimer cantilever and rotation angle; " duty " of said stacker-reclaimer refers to the present states such as material/windrow, switch/fault of getting of stacker-reclaimer; " running status " of said stacker-reclaimer is the general name of stacker-reclaimer " position ", " attitude " and " duty ".Said " external data source " is meant existing production information system in stock ground and control system.
The gps satellite location technology has obtained widespread use in a plurality of fields such as navigation, mappings through years development, has become a proven technique." carrier phase difference GPS technology (GPS RTK) in real time " then is the breakthrough of GPS technology; It in time sends to the dynamic subscriber with the phase observations data and the coordinate information of base station through the data chainning mode; The dynamic subscriber handles the data chainning of receiving with carrying out real time differential from the phase observations data of gathering, thereby obtains dynamic subscriber's real-time three-dimensional position.With traditional GPS compared with techniques, it is good to have real-time, the characteristics that bearing accuracy is high, the accurate location that can realize centimetre-sized; And compare with above-mentioned other location technologies, it is low to have a cost, and adaptability is strong, does not receive weather, environmental disturbances, advantages such as no cumulative errors.
The invention provides a kind of industrial stock ground real-time positioning supervisory system based on differential GPS, this cover system is applied to the real-time positioning and the monitoring in industrial stock ground with GPS RTK technology, improves the automatic management level in industrial stock ground.The stock ground dispatcher can have raw material type and stowed location the place now from Surveillance center's Real Time Observation, and the running status of stacker-reclaimer.When stacker-reclaimer heap was got raw material type and do not met current production requirement, system reported to the police automatically, eliminates accident potential, guarantees the production even running.
The present invention also provides the method for utilizing above-mentioned real-time positioning supervisory system to carry out the real-time positioning monitoring of industrial stock ground.Through the step of said method, the present invention can realize the real-time positioning monitoring to raw material stockpile geographic distribution position, industrial stock ground and stacker-reclaimer, ensures the even running that the stock ground produces.
Description of drawings
Fig. 1 is the structured flowchart that the present invention is based on the industrial stock ground real-time positioning supervisory system of differential GPS technology.
Fig. 2 is a Surveillance center of the present invention structural representation.
Fig. 3 is a base station terminal structural representation of the present invention.
Fig. 4 is the structural representation at stacker-reclaimer movement station terminal.
Fig. 5 is the industrial stock ground real-time positioning method for supervising process flow diagram of utilization of the present invention based on the industrial stock ground real-time positioning supervisory system of differential GPS technology.
Fig. 6 is that the real-time monitoring display module interfaces three-dimensional picture of Surveillance center of the present invention shows synoptic diagram.
Fig. 7 is according to the local calculating stacker-reclaimer position of three-dimensional coordinate relatively of stacker-reclaimer movement station and the key diagram (overlooking) of attitude data among the present invention.
Fig. 8 is according to the local calculating stacker-reclaimer position of three-dimensional coordinate relatively of stacker-reclaimer movement station and the key diagram (side-looking) of attitude data among the present invention.
Embodiment
The present invention provides a kind of industrial stock ground real-time positioning supervisory system based on the differential GPS technology; This system adopts differential GPS technology, wireless communication technology, database technology and dimension display technologies to realize the real-time positioning monitoring that industrial stock ground stacker-reclaimer and material level distribute, and can carry out early warning to the maloperation of stacker-reclaimer.This system is by comprising a Surveillance center (1), a base station terminal (2) and a plurality of stacker-reclaimer movement stations terminals (3).
Its one-piece construction and installation form are as shown in Figure 1, and wherein, Surveillance center (1) and base station terminal (2) are installed on the central control room (6) in industrial stock ground, and connect with cable.Stacker-reclaimer movement station terminal (3) is installed on the stacker-reclaimer (4).On the stacker-reclaimer cantilever (41) that wherein gps antenna (32) is installed on, locate near bucket wheel (42), on behalf of the stacker-reclaimer bucket wheel, its position pile and has been got the position that raw material is operated.If many stacker-reclaimers are arranged, then each stacker-reclaimer is installed a cover stacker-reclaimer movement station terminal.
The structure of Surveillance center is as shown in Figure 2.It is installed on one or more computing machine in the central control room of stock ground usually; It is responsible for importing stacker-reclaimer locator data and operating state data in real time and handling, calculate, show, analyze from base station terminal and external data source, sends warning when being necessary.Surveillance center is made up of three databases and four functional modules.Wherein: stacker-reclaimer location and running state data storehouse (11) are used to deposit each stacker-reclaimer locator data and running state data, are responsible for renewal by data communication module (14); Data communication module (14) is the functional module that Surveillance center is responsible for carrying out with base station terminal (2) and external data source data communication, comprises required talk various network protocols of communication and hardware interface.Stock ground raw material information database (12) comprises the kind of information of each raw material of current stock ground, and the geographic distribution position data of each stockpile on the stock ground of raw material accumulation; Heap get gauge then database (13) comprise in the current production cycle windrow and get the material working rule.These two databases all are responsible for renewal by raw material information and stockpile distribution plan maintenance module (16).Raw material information and stockpile distribution plan maintenance module (16) are used for creating, editor, deletion raw material type data and stockpile data, and the stockpile geographic distribution position in the input, editor stock ground, and windrow and get gauge then; These operations can be accomplished through the software interface of this module is manual by operating personnel, also can import automatically from external data source.The monitoring display module then is responsible for position, the attitude data of distribution of the stockpile in the stock ground and stacker-reclaimer are dynamically shown with the form of three-dimensional picture in real time; Its man-machine interface synoptic diagram is as shown in Figure 6, is divided into graphics display area (71) and literal viewing area (72) two parts.Wherein the graphics display area shows the three-dimensional picture of raw material stockpile in the place and stacker-reclaimer, and the raw material type data also can be in this zone with graphic presentation.The variation meeting of stacker-reclaimer action is in this regional real-time update; Character area then is used for showing can't patterned data, like stacker-reclaimer when preceding switch/malfunction etc.Analyzing alarm module (17), then is to be used for current stacker-reclaimer running status, gets the then windrow in the database (13) and get the material working rule and compare of gauge with heap, when finding current stacker-reclaimer operating mistake, sends warning.
The structure of base station terminal (2) and movement station terminal (3) is as shown in Figure 3.Base station terminal (2) is made up of gps receiver (21), gps antenna (22), radio station (23), radio station antenna (24), and movement station terminal 3 is made up of gps receiver (31), gps antenna (32), radio station (33), radio station antenna (34).Wherein, station GPS receiver (31) and supporting antenna (32) are used to obtain the longitude and latitude and the sea level elevation data of self position; And base station gps receiver (21) and supporting antenna (22) are used to obtain the longitude and latitude and the sea level elevation data of self position, cooperate with stacker-reclaimer movement station terminal simultaneously and carry out calculus of differences, draw the locator data of station GPS antenna.Movement station terminal gps receiver and antenna thereof are responsible for receiving G PS satellite-signal, and carry out calculus of differences with satellite-signal that the base station receives, obtain the accurate longitude and latitude and the sea level elevation position data of movement station terminal gps antenna.Radio station and antenna thereof then are responsible for the wireless telecommunications between base station terminal and the movement station terminal.Carry out after the Difference Calculation movement station G PS Antenna Positioning data then by base station terminal through cable transmission to Surveillance center (1).
As shown in Figure 5, the industrial stock ground real-time positioning method for supervising based on the differential GPS technology provided by the invention, mainly follow following steps:
The first step; A point in the selection stock ground is as the relative three-dimensional coordinate initial point in stock ground; Stacker-reclaimer movement station terminal gps antenna is placed this point, use station GPS receiver and antenna, demarcate stock ground longitude and latitude and the sea level elevation and the sea level elevation (S81) of three-dimensional coordinate initial point relatively.The reason of at first geographic position in stock ground being demarcated is that the position data that differential GPS calculates is WGS-84 longitude and latitude and sea level elevation data, can not directly be used for the location, stock ground.Need be converted into local three-dimensional coordinate relatively.The initial point of local three-dimensional system of coordinate relatively then needs to demarcate in advance.Generally choose point on a certain corner, stock ground as initial point; The static demarcating function of use gps receiver obtains the longitude and latitude and the sea level elevation information of this point; As the local initial point (0 of three-dimensional system of coordinate relatively; 0,0), then after the longitude and latitude that receives of movement station terminal and base station terminal then convert the relative three-dimensional coordinate in this locality into the sea level elevation data according to this initial point.
Second step; Use the raw material information and the stockpile distribution plan maintenance module of Surveillance center; Through graphical editor or the form that imports from external data source, with stock ground raw material type data, and stockpile geographic distribution position data imports stock ground raw material information database; Wherein, the true origin of stockpile geographic distribution position data is the relative three-dimensional coordinate initial point (S82) in stock ground in the step 1.The stockpile geographic distribution position data is here used local three-dimensional system of coordinate relatively; True origin is consistent with the true origin that the first step is demarcated; The relative position that its role is to guarantee stacker-reclaimer on the monitored picture and raw material stockpile is with actual consistent, makes that also analyzing alarm module can correctly judge the violation windrow and get then operation of gauge (stacker-reclaimer is whether at the enterprising windrow of the stockpile of mistake/get material).
The 3rd step; With the windrow of current production cycle and get the material operation and import heap and get then database of gauge, the windrow of said current production cycle and get the geographic distribution position data (S83) that the material working rule comprises current production cycle regulation heap, the raw material type data of getting and its place stockpile.In this example, through raw material information and stockpile distribution plan maintenance module with the windrow of current production cycle and get the material working rule and import heap and get then database of gauge, as analyzing the foundation that alarm module is judged.Rule specifically comprises: in the current production cycle, need the raw material of stacking, and the order of stacking, and allow position, the raw material that need take and the order of taking to putting.
The 4th step; Movement station terminal and base station terminal are accepted the gps satellite positioning signal; The movement station terminal intercoms with base station terminal mutually simultaneously, calculates the accurate longitude and latitude and the sea level elevation data of gps antenna position, movement station terminal with the Difference Calculation mode, and is uploaded to Surveillance center (S84).In this example; Stacker-reclaimer moves in the place, stock ground; And implement heap and get the material operation simultaneously, stacker-reclaimer movement station terminal and base station terminal are accepted the gps satellite positioning signal, and the movement station terminal intercoms with base station terminal mutually simultaneously; Calculate the accurate longitude and latitude and the sea level elevation data of gps antenna position, movement station terminal with the Difference Calculation mode, and be uploaded to Surveillance center through the cable that connects base station terminal and Surveillance center's data communication module.According to gps receiver and radio station performance, data upload frequencies is 1/2nHz.Wherein n is the number at stacker-reclaimer movement station terminal.
In the 5th step, import the stacker-reclaimer operating state data in real time into and deposit stacker-reclaimer location and running state data storehouse (S85) in from external data source.Common stacker-reclaimer duty (switch/fault; Windrow/get material) by the existing control system control in stock ground; These data can directly be inserted by control system, or site safety is required under the stricter situation, through inserting after the existing production information system transfer in stock ground.
The 6th step; Surveillance center receives the longitude and latitude and the sea level elevation data of station GPS antenna position; And, calculate the position and the attitude information of stacker-reclaimer and deposit stacker-reclaimer location and running state data storehouse (S86) in according to the relative three-dimensional coordinate initial point in the described this locality of step 1.In this example, the local three-dimensional coordinate initial point of at first confirming (0,0 relatively according to step 1; The longitude and latitude of the gps antenna position, movement station terminal that 0), step 4 is obtained and sea level elevation data reduction are local three-dimensional coordinate (x1, y1 relatively; Z1), (comprise stacker-reclaimer cantilever central point (43) position, the stacker-reclaimer cantilever angle of pitch according to relative three-dimensional coordinate calculating stacker-reclaimer position, this locality and attitude data again; To reclaimer cantilever rotation angle), algorithm is (like Fig. 7, shown in Figure 8) as follows:
Known stacker-reclaimer (4) moves reciprocatingly on the fixed track (5) parallel with stockpile (6), piles, gets the raw material on the different stockpiles through rotation, pitching cantilever (41) simultaneously.
The local three-dimensional coordinate relatively of known stacker-reclaimer station GPS antenna (32) position (x1, y1, z1); And track starting point (51) coordinate (x0, y0,0); And known locations is put stacker-reclaimer cantilever rotation initial point distance L (jib-length), can try to achieve stacker-reclaimer angle of pitch α (1 formula), and further obtain cantilever at floor projections length H; Thereby obtain rotation angle β (2,3 formula).
α＝arcsin(z
1/L)(1)
H＝cotα·z
1(2)
β＝arc?cotα·(y
1-y
0)(3)
Then, can try to achieve by formula (4) for stacker-reclaimer cantilever rotation initial point (43) coordinate (x2, y2,0) x2:
x
2＝x
1-H·cotβ(4)
And owing to stacker-reclaimer moves reciprocatingly along guide rail (5) all the time, then obvious:
y
2＝y
0(5)
So far, stacker-reclaimer cantilever rotation initial point (43) coordinate (x2, y2,0) with and cantilever angle of pitch α, cantilever rotation angle β calculates and finishes.
In the 7th step,, dynamically show by the form of the real-time monitoring display module of Surveillance center with three-dimensional picture with the step 6 result calculated; Analyze the running state data that alarm module reads current stacker-reclaimer, get the then current production cycle windrow in the database and get the material working rule and compare of gauge,, then report to the police automatically (S87) if be not inconsistent with heap.In this example; The stacker-reclaimer position, the angle of pitch, rotation angle of calculating gained according to step 6 be as the display parameter of prefabricated stacker-reclaimer three-dimensional model in monitoring display module in real time, and real-time display module can be in real time be presented at the position and the attitude of stacker-reclaimer on the man-machine interface (71).When Surveillance center constantly receives the stacker-reclaimer locator data, analyze alarm module (17) also the stacker-reclaimer running status is got with heap gauge then the rule in the database compare.Under nominal situation, during the stacker-reclaimer windrow, the raw material type of windrow must be in the windrow raw material type that rule base is permitted, but the position at bucket wheel place also must be within the windrow scope of rule predetermining; When stacker-reclaimer is got material; At first the stockpile of the position through bucket wheel place is known current raw material type of taking; Again through checking whether this kind raw material exists and get getting in the material kind list that gauge then allows, and current time takes this kind raw material, whether meets the material taking sequence of rule predetermining.If can not then send warning through above-mentioned detection, the operating personnel of prompting central control room, the accident that prevents takes place.
The present invention to reclaimer is positioned on the industrial stock ground, reaches the purpose that the stock ground operation is monitored in real time through differential GPS technology, has advantages of high practicability, can effectively avoid because the accident such as wrong raw material of getting that the stacker-reclaimer positional fault causes.The present invention compares with the system that adopts other location technology, and it is low, non-maintaining to have a cost, and no cumulative errors do not receive advantages such as weather, dust atmosphere influence basically, are applicable to the bulk cargo stock ground of multiple industries such as colliery, metallurgy, thermoelectricity.
Claims (5)
1. the industrial stock ground real-time positioning supervisory system based on the differential GPS technology is characterized in that, comprises a Surveillance center (1), a base station terminal (2) and a plurality of stacker-reclaimer movement stations terminals (3);
Said Surveillance center (1) comprising:
Stacker-reclaimer is located and running state data storehouse (11), stores the locator data and the running state data of each stacker-reclaimer,
Stock ground raw material information database (12) stores the raw material type data in current stock ground and the geographic distribution position data of each stockpile on the stock ground that raw material is piled up;
Heap is got then database (13) of gauge, stores interior windrow of current production cycle and gets the material working rule;
Data communication module (14) is used to receive from the stacker-reclaimer real-time positioning data of base station terminal and from the stacker-reclaimer running state data of external data source, and upgrades stacker-reclaimer location and running state data storehouse;
Real-time monitoring display module (15); Be used for showing current stock ground each stockpile geographic distribution position and raw material type, and calculate, show the running status of current time stacker-reclaimer according to the locator data and the operating state data of stacker-reclaimer according to the geographic distribution position data and the raw material type graphical data of stockpile;
Raw material information and stockpile distribution plan maintenance module (16); Be used to create, edit, delete raw material type data and the geographic distribution position data of stockpile on the stock ground; And input, editor on the stock ground stockpile geographic distribution position data and windrow and get the material working rule, and deposit stock ground raw material information database (12) in and heap is got then database (13) of gauge;
Analyze alarm module (17), be used for, get the then windrow in the database (13) and get the material working rule and compare of gauge, when finding current stacker-reclaimer operating mistake, send warning with heap with current stacker-reclaimer running status;
Said base station terminal (2) comprising:
Base station gps receiver (21) and supporting antenna (22); Be used to obtain the longitude and latitude and the sea level elevation data of self position; And cooperate with stacker-reclaimer movement station terminal and to carry out calculus of differences, draw the locator data of station GPS antenna, and be transferred to the data communication module of Surveillance center;
Radio station, base station (23) and supporting antenna (24): be used for carrying out data communication with stacker-reclaimer movement station terminal;
Said stacker-reclaimer movement station terminal (3) comprising:
Station GPS receiver (31) and supporting antenna (32): the longitude and latitude and the sea level elevation data that are used to obtain self position;
Movement station radio station (33) and supporting antenna (34): be used for carrying out data communication with base station terminal.
2. a kind of industrial stock ground real-time positioning supervisory system according to claim 1 based on the differential GPS technology; It is characterized in that; The real-time monitoring display module (15) of Surveillance center (1) shows current stock ground each stockpile geographic distribution position and raw material type with the mode of three-dimensional picture, and the running status that shows current stacker-reclaimer.
3. a kind of industrial stock ground real-time positioning supervisory system based on differential GPS technology according to claim 1 is characterized in that, the station GPS antenna (32) in the stacker-reclaimer movement station terminal (3) is installed on the stacker-reclaimer cantilever position near bucket wheel.
4. utilize the described real-time positioning supervisory system of claim 1 to carry out the method for industrial stock ground real-time positioning monitoring, it is characterized in that it comprises following steps successively:
(1), a point in the selection stock ground is as the relative three-dimensional coordinate initial point in stock ground; Stacker-reclaimer movement station terminal gps antenna is placed this point; Use station GPS receiver and antenna, demarcate the stock ground longitude and latitude and the sea level elevation of three-dimensional coordinate initial point relatively;
(2), use the raw material information and the stockpile distribution plan maintenance module of Surveillance center; Through graphical editor or the form that imports from external data source; With stock ground raw material type data; And stockpile geographic distribution position data importing stock ground raw material information database, wherein, the true origin of stockpile geographic distribution position data is the relative three-dimensional coordinate initial point in the stock ground in the step (1);
(3), with the windrow of current production cycle and get the material operation and import heap and get then database of gauge, the windrow of said current production cycle and get the geographic distribution position data that the material working rule comprises current production cycle regulation heap, the raw material type data of getting and place stockpile of current production cycle;
(4), movement station terminal and base station terminal are accepted the gps satellite positioning signal; The movement station terminal intercoms with base station terminal mutually simultaneously; Calculate the accurate longitude and latitude and the sea level elevation data of gps antenna position, movement station terminal with the Difference Calculation mode, and be uploaded to Surveillance center;
(5), import the stacker-reclaimer operating state data in real time into and deposit stacker-reclaimer location and running state data storehouse in from external data source;
(6), Surveillance center receives the longitude and latitude and the sea level elevation data of station GPS antenna position; And, calculate the position and the attitude information of stacker-reclaimer and deposit stacker-reclaimer location and running state data storehouse in according to the relative three-dimensional coordinate initial point in the described this locality of step (1);
(7), with step (6) result calculated, dynamically show by the form of the real-time monitoring display module of Surveillance center with three-dimensional picture; Analyze the running state data that alarm module reads current stacker-reclaimer, get the then current production cycle windrow in the database and get the material working rule and compare of gauge,, then report to the police automatically if be not inconsistent with heap.
5. carry out the method for industrial stock ground real-time positioning monitoring according to the real-time positioning supervisory system described in the claim 4; It is characterized in that; In the time of near movement station terminal gps antenna is installed on the stacker-reclaimer bucket wheel, in step (6), according to the local three-dimensional coordinate relatively of stacker-reclaimer bucket wheel position; Calculate the position of stacker-reclaimer cantilever rotation initial point, and the rotation angle of stacker-reclaimer cantilever and the angle of pitch.
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| CN105891847A (en) * | 2014-11-17 | 2016-08-24 | 孔兵 | Apparatus making differential satellite positioning system base station realize self-restrained function and method thereof |
| CN104866912B (en) * | 2014-12-29 | 2019-01-25 | 中冶南方工程技术有限公司 | A kind of bulk cargo stock yard material heap management method |
| CN107364729A (en) * | 2016-05-12 | 2017-11-21 | 鞍钢股份有限公司 | A kind of method for being accurately positioned control heap and taking coal |
| CN106946159B (en) * | 2017-03-30 | 2018-09-21 | 武汉大学 | One kind being based on the pinpoint building tower crane automatic running systems of the Big Dipper/GPS and control method |
| 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 |
| CN114401524A (en) * | 2021-11-26 | 2022-04-26 | 江苏徐工工程机械研究院有限公司 | RTK base station monitoring system and method for unmanned mine transportation |
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