CN107487715A - One kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position - Google Patents
One kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position Download PDFInfo
- Publication number
- CN107487715A CN107487715A CN201610401726.5A CN201610401726A CN107487715A CN 107487715 A CN107487715 A CN 107487715A CN 201610401726 A CN201610401726 A CN 201610401726A CN 107487715 A CN107487715 A CN 107487715A
- Authority
- CN
- China
- Prior art keywords
- data
- dolly
- satellite
- warehouse compartment
- scale
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to one kind to be used for the pinpoint method in outdoor traveling crane steel loading item pool position, the outdoor traveling crane steel loading item pool position positioning includes cart alignment system, dolly alignment system and based on by the network communication of two kinds of systems, data acquisition and warehouse compartment information system is changed, and the cart alignment system uses Satellite Navigation Technique（GNSS）And data difference technology（), including base station, cart movement station and wireless communication module, control and data transmission module between the two RTK；The dolly alignment system includes graduated scale cable system, vernier pointer module, scale generation and analysis converting transmission module；The warehouse compartment information system is that big dolly position data collecting and the coil of strip warehouse compartment by setting are changed into specific warehouse compartment, on computer terminals real-time display, so as to realize that hanging steel roll warehouse compartment is accurately positioned.
Description
Technical field
The present invention relates to a kind of localization method, and in particular to it is pinpoint that one kind is used for outdoor traveling crane steel loading item pool position
Method.
Background technology
Plum steel berthing facilities are the large warehoused ports handling river cargo of iron company, are mainly responsible for the coils of hot-rolled steel of company's production
Worked with the outgoing of sheet material.Plum steel berthing facilities have 4 stockyards in outdoor, are divided into two regions, each region（Cart track）
On have two outdoor 16T+16T drivings, driving is built in 1994, used more than 20 years.Input work is engaged in outdoor driving
When, after driving hanging steel roll landing, the warehouse compartment information of coil of strip manually inputs management system.Manual confirmation and input labor intensity
Height, also easily error, causes warehouse compartment information inaccurate, coil of strip is just less susceptible to find in outbound.Referring to existing driving
During location technology, outdoor driving is primarily present following three aspects problem：First, using simple Satellite Navigation Technique（Such as GPS）,
The data error of positioning is larger（Several meters even more than ten meters）；Second, it is uncomfortable according to outdoor driving own structural characteristics, dolly direction
With satellite fix, when dolly passes through, the signal for sheltering from satellite receives driving entablature；3rd, cart direction is inapplicable to carve
Anale settting scale location technology, there is no suitable position installation graduated scale, moreover travelling crane truck stroke at outdoor travelling crane truck track
Nearly 200M, graduated scale induction coil is long, and positioning precision is unable to Reliable guarantee；4th, the form phase not to the utmost of location data
Together, need reliably, more crucially to need to handle data using two kinds of positioning methods, data acquisition and transmission, turn
Change the warehouse compartment information used originally into.Therefore, there is an urgent need for a kind of new scheme to solve above-mentioned technical problem, realizes lifting plate
Volume is accurately positioned.
The content of the invention
The present invention is exactly for technical problem present in prior art, there is provided one kind is used for outdoor traveling crane steel loading item pool
The pinpoint method in position, this method carry out research of technique for prior art and outdoor driving self structure, form a kind of use
In the pinpoint method in outdoor traveling crane steel loading item pool position, the technical scheme is able to ensure that the accurate of outdoor traveling crane loading board volume
Positioning.
To achieve these goals, technical scheme is as follows, and one kind is used for outdoor traveling crane steel loading item pool position essence
It is determined that the method for position, it is characterised in that the described method comprises the following steps, 1) outdoor traveling crane steel loading item pool position is accurately positioned master
Will be by cart alignment system, dolly alignment system, network communication and data acquisition and conversion warehouse compartment information system；2）It is described big
Car alignment system sets satellite（GNSS) base station, the satellite reception day of one base fixed is set at the open place of office roof
Line, is equipped with corresponding lightning protection earthing system, and indoor location ground control cabinet nearby, and inside includes coordinate setting apparatus, power supply
Module, wireless communication module（Containing antenna）, coordinate setting apparatus and wireless communication module exchange main frame with LAN in factory and are connected；
3）Cart movement station is set on outdoor runway grider, satellite earth antenna corresponding to configuration and end carriage switch board, in cabinet
Including coordinate setting apparatus, power module, wireless communication module（Containing antenna）, moving station number is according to passing through wireless telecommunications and wireless telecommunications
It is connected with LAN switch；4）The satellite data that base station receives receives satellite data with movement station and carried out by wireless network
Communication and RTK Difference Calculations, to obtain more accurately satellite location data（Error is less than 1 centimetre）, and pass through local in factory
Real-time cart location data is sent to terminal monitoring main frame by network switch by fixed frequency；5）In trolley travelling region pair
Cable bearer is horizontally mounted every 2M on the crossbeam answered, and graduated scale induction cable is fixed on support, one end of cable
Access in above-mentioned end carriage switch board on graduated scale analyzer, by signal distributor, wireless telecommunications mould in scale analyzer and cabinet
Block（Containing antenna）It is connected；6）Power module, scale generation instrument are installed in dolly compartment switch board, away from induced electricity below dolly
Cable distance 15CM or so installs vernier pointer, and pointer maintains a certain distance with the induction cable on crossbeam, in trolley travelling
Vernier pointer launches position signalling；Received by the scale analyzer receiving position signal being connected with induction cable, then by letter
Position data is sent to wireless communication module, wireless communication module also takes on simultaneously in base station receives after the conversion of number distributor
The incoming graduated scale data in real time of wireless communication module, and pressed dolly location data admittedly by LAN switch in factory
Fixed frequency is sent to monitoring host computer；7）An outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, is mainly had
Three big energy units altogether, receive big dolly location data, carry out corresponding data conversion processing according to harbour reservoir area coding rule, most
The real-time warehouse compartment information of real-time display hanging steel roll and big dolly analog position figure on computer monitoring main frame eventually.
As a modification of the present invention, the step 2）In, the coordinate setting apparatus of base station is a collection satellite data
Receive, processing and the module that is integrated of data communication, centered on position indicator, with power module, satellite antenna, wireless network,
LAN switch is connected, and coordinate setting apparatus receives the coordinate data of office building satellite antenna（Datum mark）, it is same in outdoor driving
The coordinate data that step clock receives（Reference point）By wireless network transmissions to coordinate setting apparatus, bench mark data and reference point
Data carry out contrast processing i.e. RTK Difference Calculations, and to determine outdoor driving relative position, the position data is than single GPS
Satellite data is more accurate（Error is less than 1 centimetre）；The precise information that processing obtains is sent to by coordinate setting apparatus by LAN
Background monitoring main frame.
As a modification of the present invention, the coordinate setting apparatus in the movement station is that a collection satellite data is received, located
The module that reason and data communication are integrated, centered on position indicator, is connected with power module, satellite antenna, wireless network, will be same
Walk the coordinate data received）Positioning of the reference station instrument is transferred to by Wi-Fi.
As a modification of the present invention, the step 4）Detailed process is as follows：The satellite number that positioning of the reference station instrument receives
Communicated by wireless network according to reception satellite data synchronous with movement station position indicator, synchronized in positioning of the reference station instrument
The RTK Difference Calculations of data, to obtain more accurately satellite location data（Error is less than 1 centimetre）, and pass through local in factory
Real-time cart location data is sent to terminal monitoring main frame by network switch by fixed frequency.
As a modification of the present invention, the step 6）It is specific as follows, power supply mould is installed in dolly compartment switch board
Block, scale generation instrument, vernier pointer, pointer and the sensing on crossbeam are installed below dolly away from induction cable distance 15CM or so
Cable maintains a certain distance, and in trolley travelling, scale generation instrument produces electromagnetic induction signal to vernier pointer；Vernier pointer
The parallel contactless movement of relative scale scale cable, in moving process graduated scale cable changes of magnetic field situation by with cable
The scale analyzer of connection records dolly positional information, then goes out by signal distributor decoded back absolute residing for dolly
Position location information；Wireless communication module also takes on wireless communication module in reception movement station simultaneously and launched in base station
Dolly real time position location information, and dolly location data is sent to by fixed frequency by LAN switch in factory
Monitoring host computer.
As a modification of the present invention, the step 7）It is specific as follows, an outdoor driving is worked out on monitoring host computer
Warehouse compartment positioning software system, mainly there is a three zones unit, and first, receive big dolly location data unit, the software systems are led to
Cross data-interface software and receive cart satellite fix and dolly graduated scale location data by fixed frequency；Second, data processing
And converting unit, a datum mark is set on harbour physics reservoir area top, and big dolly location data, can be with using datum mark to refer to
The absolute coordinate of big dolly relative datum point is obtained in real time；3rd, warehouse compartment information and position simulative display functional unit, with base
Start on schedule, preset according to the actual range of each warehouse compartment in stockyard and harbour reservoir area warehouse compartment rule in information system entirely
The warehouse compartment information and simulative display figure of driving operation area, the absolute coordinate of any one section of relative datum point can be by this
Unite and be converted into warehouse compartment information and driving stimulation position view, in real-time display to terminal computer screen, finally supervised in computer
Control the warehouse compartment information of real-time display hanging steel roll and dynamic big dolly analog position figure on main frame.
Relative to prior art, advantages of the present invention is as follows, and the technical scheme solves various location technologies can not be in plum
It is used alone outside steel harbour room in driving, various technologies has been drawn a little, according to the design feature and steel of outdoor driving itself
Item pool position location requirement, creative is integrated with Technique of Satellite Navigation and Positioning and graduated scale location technology, and cart positioning is abundant
The advantages of make use of satellite GNSS installations simple, avoid graduated scale installation location equipment over long distances；Dolly positioning is using quarter
Gooseneck blocks to satellite GNSS signal reception during anale settting scale also effectively avoids trolley travelling；The technical scheme collection
High into technological orientation precision, error is no more than 1 centimetre, is especially suitable for the bucket management of outdoor driving hanging steel roll, for application
Scene, the program is simple in construction, easy for installation, and reliability is higher, the location data of hanging steel roll, reduces operating personnel's work
Intensity, raise labour efficiency and outdoor coil of strip stockyard warehouse compartment utilization rate, can also realize outdoor driving anti-collision, improve equipment
Security.
Brief description of the drawings
Fig. 1 is that driving is accurately positioned total system figure；
Fig. 2 is cart alignment system（A) schematic diagram；
Fig. 3 is dolly alignment system (B) schematic diagram；
Fig. 4 is collection and conversion system (D) schematic diagram；
In figure：A, cart alignment system；A1, cart positioning movement station；A2, cart positioning wireless telecommunications；The positioning movement of A3 carts
Stand；B, dolly alignment system；C:Network communication（Existing LAN）；D:Collection and conversion system（Monitoring host computer)；
1st, base station satellite (GNSS) reception antenna；2nd, base station coordinate setting apparatus；3rd, base station power module；4th, base station
Wireless communication module（Containing antenna）；5th, movement station satellite earth antenna 6, movement station coordinate setting apparatus；7th, movement station station power supply mould
Block；8th, movement station communication module（Containing antenna）；9th, moving cart power module；10th, scale generation instrument；11st, vernier pointer；12、
Induction cable；13rd, scale analyzer；14th, signal distributor；15th, software data receiving unit；16th, software data is handled and turned
Change unit 17, software warehouse compartment is shown and position analogue unit.
Embodiment
In order to further enhance the appreciation and understanding of the invention, with reference to the accompanying drawings and detailed description, this is furtherd elucidate
Invention.
Embodiment 1：One kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position, described referring to Fig. 1,2,3,4
Method comprises the following steps, 1) this outdoor traveling crane steel loading item pool position is accurately positioned mainly is positioned by cart alignment system A, dolly
System B and based on by the network communication C of two kinds of systems, data acquisition and conversion warehouse compartment information system D tetra- is most of forms, 2）
Cart alignment system needs to set satellite（GNSS) base station, the satellite of a base fixed is set to connect at the open place of office roof
Antenna 1 is received, is equipped with corresponding lightning protection earthing system.And nearby indoor location ground control cabinet, inside include coordinate setting apparatus
2nd, power module 3, wireless communication module（Containing antenna）4, coordinate setting apparatus 2 and wireless communication module 4 and LAN C in factory are handed over
Change planes connected, 3）Cart movement station, satellite earth antenna 5 corresponding to configuration and end carriage control are set on outdoor runway grider
Cabinet, cabinet is interior to include coordinate setting apparatus 6, power module 7, wireless communication module（Containing antenna）8 etc., moving station number evidence passes through channel radio
News 4 and wireless telecommunications 8 are connected with LAN C interchangers, and 4）The satellite data that base station receives receives satellite data with movement station
Communication and RTK Difference Calculations are carried out by wireless network, to obtain more accurately satellite location data（Error is less than 1 li
Rice）, and real-time cart location data is sent to by terminal monitoring master by fixed frequency by LAN C interchangers in factory
Machine, 5）Corresponding to trolley travelling region cable bearer is being horizontally mounted on crossbeam every 2M, and by graduated scale induction cable 12
Be fixed on support, one end of cable is accessed in above-mentioned end carriage switch board on graduated scale analyzer 13, by scale analyzer with
Signal distributor 14, wireless communication module in cabinet（Containing antenna）8 are connected, and 6）In dolly compartment switch board install power module 9,
Scale generates instrument 10, and vernier pointer 11, pointer and the sense on crossbeam are installed away from induction cable distance 15CM or so below dolly
Cable 12 is answered to maintain a certain distance, vernier pointer 11 launches position signalling in trolley travelling；By connecting with induction cable 12
The receiving position signal of scale analyzer 13 connect receives, then is sent after the conversion of signal distributor 14 to wireless communication module 8
Position data, wireless communication module 4 also takes on the incoming real-time graduated scale of reception wireless communication module 8 simultaneously in base station
Footage evidence, and dolly location data is sent to by monitoring host computer by fixed frequency by LAN C interchangers in factory, 7）Supervising
Control and an outdoor driving warehouse compartment positioning software system is worked out on main frame, mainly there are three big energy units altogether, receive big dolly positioning number
According to 15, corresponding data conversion processing 16 is carried out according to harbour reservoir area coding rule, finally on computer monitoring main frame in real time
Show the real-time warehouse compartment information of hanging steel roll and big dolly analog position Fig. 1-3.
The step 2）In, the coordinate setting apparatus 2 of base station is that a collection satellite data receives, processing and data communication are
The module of one, centered on position indicator, is connected with power module 3, satellite antenna, wireless network, LAN switch, coordinate
Position indicator receives the coordinate data of office building satellite antenna（Datum mark）, synchronised clock receives in outdoor driving coordinate data
（Reference point）By wireless network transmissions to coordinate setting apparatus, bench mark data with reference to point data with carrying out the i.e. RTK of contrast processing
Difference Calculation, to determine outdoor driving relative position, the position data is more accurate than single GPS satellite data（Error is small
In 1 centimetre）；The precise information that processing obtains is sent to background monitoring main frame by coordinate setting apparatus by LAN.
The step 3）Described in coordinate setting apparatus 6 in movement station be a collection satellite data receive, processing and data
The module being integrated is communicated, centered on position indicator, is connected with power module, satellite antenna, wireless network, will synchronously receive
Coordinate data）Positioning of the reference station instrument is transferred to by Wi-Fi.
The step 4）Detailed process is as follows：The satellite data that positioning of the reference station instrument 2 receives is synchronous with movement station position indicator 6
Receive satellite data to be communicated by wireless network, the RTK Difference Calculations of data are synchronized in positioning of the reference station instrument, with
Just more accurately satellite location data is obtained（Error is less than 1 centimetre）, and by LAN switch in factory by real-time cart
Location data is sent to terminal monitoring main frame by fixed frequency.
The step 6）It is specific as follows, power module 9, scale generation instrument 10 are installed in dolly compartment switch board, small
Vernier pointer 11 is installed away from induction cable distance 15CM or so below car, pointer keeps certain with the induction cable 12 on crossbeam
Distance, in trolley travelling, scale generation instrument produces electromagnetic induction signal to vernier pointer；Vernier pointer relative scale scale electricity
The parallel contactless movement of cable, graduated scale cable changes of magnetic field situation with the scale of cable connection by analyzing in moving process
Instrument 13 records dolly positional information, then goes out the Absolutely orientation letter residing for dolly by the decoded back of signal distributor 14
Breath；Wireless communication module also takes on that to receive the dolly that wireless communication module in movement station launches real-time simultaneously in base station
Position location information, and dolly location data is sent to by monitoring host computer by fixed frequency by LAN switch in factory.
The step 7）It is specific as follows, an outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, mainly
There is a three zones unit, first, receive big dolly location data unit 15, the software systems are by data-interface software by fixing
Frequency reception cart satellite fix and dolly graduated scale location data；Second, data processing and converting unit 16, in harbour thing
Manage reservoir area top and one datum mark is set, it is relative can to obtain big dolly in real time using datum mark as reference for big dolly location data
The absolute coordinate of datum mark；3rd, warehouse compartment information and position simulative display functional unit 17 are started with datum mark, according to heap
The actual range and harbour reservoir area warehouse compartment rule of each warehouse compartment in field preset whole driving operation area in information system
Warehouse compartment information and simulative display figure, the absolute coordinate of any one section of relative datum point can be converted into warehouse compartment letter by the system
Breath and driving stimulation position view, in real-time display to terminal computer screen, finally show in real time on computer monitoring main frame
Show the warehouse compartment information of hanging steel roll and dynamic big dolly analog position figure.
Above-mentioned technical proposal is mainly the design feature and coil of strip warehouse compartment location requirement according to outdoor driving itself, creative
Be integrated with Technique of Satellite Navigation and Positioning and graduated scale location technology, it is simple that cart positioning takes full advantage of satellite GNSS installations
The advantages of, avoid graduated scale installation location equipment over long distances；Dolly positioning is also effectively avoided small using graduated scale
Gooseneck blocks to satellite GNSS signal reception in car running；This integrated technology positioning precision is high, and error is no more than 1 li
Rice, is especially suitable for the bucket management of outdoor driving hanging steel roll.For site of deployment, the program is simple in construction, easy for installation, can
It is higher by property, the location data of hanging steel roll, operating personnel's labor intensity is reduced, raised labour efficiency and outdoor coil of strip stockyard
Warehouse compartment utilization rate, outdoor driving anti-collision can be also realized, improve the security of equipment.
It should be noted that above-described embodiment is only presently preferred embodiments of the present invention, it is not used for limiting the present invention
Protection domain, the equivalent substitution or replacement made on the basis of above-mentioned technical proposal, belong to the present invention protection model
Enclose.
Claims (6)
1. one kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position, it is characterised in that methods described includes following
Step,
1) outdoor traveling crane steel loading item pool position be accurately positioned mainly by cart alignment system, dolly alignment system, network communication with
And data acquisition and conversion warehouse compartment information system；
2）The cart alignment system sets satellite（GNSS) base station, in office roof one base fixed of open place's setting
Satellite earth antenna, is equipped with corresponding lightning protection earthing system, and indoor location ground control cabinet nearby, and inside is determined including coordinate
Position instrument, power module, wireless communication module, coordinate setting apparatus and wireless communication module exchange main frame phase with LAN in factory
Even；
3）Cart movement station is set on outdoor runway grider, satellite earth antenna corresponding to configuration and end carriage switch board, in cabinet
Including coordinate setting apparatus, power module, wireless communication module（Containing antenna）, moving station number is according to passing through wireless telecommunications and wireless telecommunications
It is connected with LAN switch；
4）The satellite data that base station receives receives satellite data with movement station and carries out communication and RTK difference meters by wireless network
Calculate, to obtain more accurately satellite location data, and real-time cart location data is pressed by LAN switch and fixed
Frequency be sent to terminal monitoring main frame；
5）Cable bearer is being horizontally mounted every 2M on crossbeam corresponding to trolley travelling region, and graduated scale induction cable is being consolidated
It is scheduled on support, one end of cable is accessed in above-mentioned end carriage switch board on graduated scale analyzer, by scale analyzer and cabinet
Signal distributor, wireless communication module（Containing antenna）It is connected；
6）Power module, scale generation instrument are installed in dolly compartment switch board, away from induction cable distance 15CM below dolly
Vernier pointer is installed in left and right, and pointer maintains a certain distance with the induction cable on crossbeam, and in trolley travelling, vernier pointer is sent out
Penetrate position signalling；Received by the scale analyzer receiving position signal being connected with induction cable, then turned by signal distributor
Position data is sent to wireless communication module after changing, wireless communication module also takes on reception wireless telecommunications mould simultaneously in base station
The incoming graduated scale data in real time of block, and sent out dolly location data by fixed frequency by LAN switch in factory
It is sent to monitoring host computer；
7）An outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, mainly there are three big energy units altogether, receives big
Dolly location data, corresponding data conversion processing is carried out according to harbour reservoir area coding rule, finally in computer monitoring main frame
The real-time warehouse compartment information of upper real-time display hanging steel roll and big dolly analog position figure.
2. security control and the status number display device of remote operation hoist operational control authority according to claim 1,
Characterized in that, the step 2）In, the coordinate setting apparatus of base station is a collection satellite data reception, processing and data communication
The module being integrated, centered on position indicator, it is connected with power module, satellite antenna, wireless network, LAN switch, sits
Mark the coordinate data that position indicator receives office building satellite antenna, the coordinate data that synchronised clock receives in outdoor driving（With reference to
Point）By wireless network transmissions to coordinate setting apparatus, bench mark data with reference to point data with carrying out contrast processing i.e. RTK difference meter
Calculate, to determine outdoor driving relative position,；After the precise information that processing obtains is sent to by coordinate setting apparatus by LAN
Platform monitoring host computer.
3. security control and the status number display device of remote operation hoist operational control authority according to claim 2,
Characterized in that, the coordinate setting apparatus in the movement station, which is one, integrates satellite data reception, processing and data communication
Module, centered on position indicator, be connected with power module, satellite antenna, wireless network, the number of coordinates that will synchronously receive
According to）Positioning of the reference station instrument is transferred to by Wi-Fi.
4. straighforward operation security control and state display device according to Claims 2 or 3, it is characterised in that the step
4）Detailed process is as follows：The satellite data satellite data that receives synchronous with movement station position indicator that positioning of the reference station instrument receives passes through nothing
Gauze network is communicated, and the RTK Difference Calculations of data are synchronized in positioning of the reference station instrument, to obtain more accurately satellite
Location data, and real-time cart location data is sent to by terminal monitoring by fixed frequency by LAN switch in factory
Main frame.
5. straighforward operation security control and state display device according to claim 4, it is characterised in that the step 6）Tool
Body is as follows, power module, scale generation instrument is installed in dolly compartment switch board, away from induction cable distance 15CM below dolly
Vernier pointer is installed in left and right, and pointer maintains a certain distance with the induction cable on crossbeam, and in trolley travelling, scale generates instrument
Electromagnetic induction signal is produced to vernier pointer；The parallel contactless movement of vernier pointer relative scale scale cable, moving process
Middle graduated scale cable changes of magnetic field situation records dolly positional information by the scale analyzer with cable connection, then passes through
Cross signal distributor decoded back and go out Absolutely orientation information residing for dolly；Wireless communication module is also held simultaneously in base station
Carry on a shoulder pole and receive the dolly real time position location information that wireless communication module in movement station launches, and handed over by LAN in factory
Change planes and dolly location data is sent to monitoring host computer by fixed frequency.
6. straighforward operation security control and state display device according to claim 4, it is characterised in that the step 7）Tool
Body is as follows, and an outdoor driving warehouse compartment positioning software system is worked out on monitoring host computer, mainly there is a three zones unit, first,
Receive big dolly location data unit, the software systems by data-interface software by fixed frequency receive cart satellite fix with
Dolly graduated scale location data；Second, data processing and converting unit, one benchmark is set on harbour physics reservoir area top
Point, big dolly location data can obtain the absolute coordinate of big dolly relative datum point in real time using datum mark as reference；The
Three, warehouse compartment information and position simulative display functional unit are started with datum mark, according to the actual range of each warehouse compartment in stockyard and
Harbour reservoir area warehouse compartment rule presets the warehouse compartment information and simulative display figure of whole driving operation area in information system, arbitrarily
The absolute coordinate of one section of relative datum point can be converted into warehouse compartment information and driving stimulation position view by the system, real
When be shown on terminal computer screen, finally on computer monitoring main frame real-time display hanging steel roll warehouse compartment information and dynamic
Big dolly analog position figure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401726.5A CN107487715B (en) | 2016-06-11 | 2016-06-11 | One kind is for the pinpoint method in outdoor traveling crane steel loading item pool position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401726.5A CN107487715B (en) | 2016-06-11 | 2016-06-11 | One kind is for the pinpoint method in outdoor traveling crane steel loading item pool position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107487715A true CN107487715A (en) | 2017-12-19 |
| CN107487715B CN107487715B (en) | 2019-06-18 |
Family
ID=60642694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610401726.5A Active CN107487715B (en) | 2016-06-11 | 2016-06-11 | One kind is for the pinpoint method in outdoor traveling crane steel loading item pool position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107487715B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111860720A (en) * | 2020-07-21 | 2020-10-30 | 上海罐联供应链科技发展有限公司 | RFID (radio frequency identification) and high-precision positioning integrated system and application thereof |
| CN112678691A (en) * | 2020-12-23 | 2021-04-20 | 西安市林丰电子科技有限公司 | GPS-RTK-based crawler crane anti-collision data transceiving device and method |
| CN112782739A (en) * | 2021-01-18 | 2021-05-11 | 武汉华创北斗技术有限公司 | Intelligent driving positioning and measuring device for small and medium river hydrological cableway |
| CN113064191A (en) * | 2020-01-02 | 2021-07-02 | 苏州宝时得电动工具有限公司 | Reference station sharing method and system for autonomous robot, and storage medium |
| CN114002719A (en) * | 2021-10-12 | 2022-02-01 | 广州市城市规划勘测设计研究院 | Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050033514A1 (en) * | 2001-12-12 | 2005-02-10 | Qing Lu | Mobile station of global position system for rubber-tyred gantry crane |
| CN2820803Y (en) * | 2005-08-05 | 2006-09-27 | 上海振华港口机械（集团）股份有限公司 | Automation system of optimum path of container crane |
| CN101475126A (en) * | 2008-12-31 | 2009-07-08 | 北京北斗星通导航技术股份有限公司 | RTG navigation locating and container position monitoring system |
| CN201359699Y (en) * | 2009-02-27 | 2009-12-09 | 岳阳千盟电子有限公司 | Control system for overhead traveling crane positioning and location management |
| CN203349774U (en) * | 2013-04-24 | 2013-12-18 | 杨少臣 | Scaled driving displacement identifying system |
| CN203624860U (en) * | 2013-09-11 | 2014-06-04 | 上海沪东集装箱码头有限公司 | Driving auxiliary system for RTG (rubber tyre gantry) cart |
-
2016
- 2016-06-11 CN CN201610401726.5A patent/CN107487715B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050033514A1 (en) * | 2001-12-12 | 2005-02-10 | Qing Lu | Mobile station of global position system for rubber-tyred gantry crane |
| CN2820803Y (en) * | 2005-08-05 | 2006-09-27 | 上海振华港口机械（集团）股份有限公司 | Automation system of optimum path of container crane |
| CN101475126A (en) * | 2008-12-31 | 2009-07-08 | 北京北斗星通导航技术股份有限公司 | RTG navigation locating and container position monitoring system |
| CN201359699Y (en) * | 2009-02-27 | 2009-12-09 | 岳阳千盟电子有限公司 | Control system for overhead traveling crane positioning and location management |
| CN203349774U (en) * | 2013-04-24 | 2013-12-18 | 杨少臣 | Scaled driving displacement identifying system |
| CN203624860U (en) * | 2013-09-11 | 2014-06-04 | 上海沪东集装箱码头有限公司 | Driving auxiliary system for RTG (rubber tyre gantry) cart |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113064191A (en) * | 2020-01-02 | 2021-07-02 | 苏州宝时得电动工具有限公司 | Reference station sharing method and system for autonomous robot, and storage medium |
| CN111860720A (en) * | 2020-07-21 | 2020-10-30 | 上海罐联供应链科技发展有限公司 | RFID (radio frequency identification) and high-precision positioning integrated system and application thereof |
| CN112678691A (en) * | 2020-12-23 | 2021-04-20 | 西安市林丰电子科技有限公司 | GPS-RTK-based crawler crane anti-collision data transceiving device and method |
| CN112782739A (en) * | 2021-01-18 | 2021-05-11 | 武汉华创北斗技术有限公司 | Intelligent driving positioning and measuring device for small and medium river hydrological cableway |
| CN114002719A (en) * | 2021-10-12 | 2022-02-01 | 广州市城市规划勘测设计研究院 | Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107487715B (en) | 2019-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107487715A (en) | One kind is used for the pinpoint method in outdoor traveling crane steel loading item pool position | |
| CN101582198B (en) | Real-time monitoring method for construction quality of core rockfill dam | |
| CN201181945Y (en) | Tailings warehouse dam body deformation monitoring system | |
| CN205305194U (en) | Street lamp automatic monitoring system | |
| CN202093687U (en) | Parking lot intelligent control system based on Internet of things | |
| CN206559654U (en) | A kind of transformer station management system positioned based on UWB | |
| CN202594643U (en) | Crane operation recorder | |
| CN102184622A (en) | System for monitoring grounding wire state in substation | |
| CN103200675A (en) | Wireless sensor network target locating method and locating system without need of node self-localization | |
| CN206209850U (en) | Mine vehicle Stady On The Auxiliary Transportation Systems | |
| CN203050783U (en) | Underground positioning and monitoring communication system | |
| CN105197799A (en) | UWB-based crane wireless positioning control system and method | |
| CN202331905U (en) | Battery replacing simulation system for EV (electric vehicle) charging (battery replacing) stations based on virtual reality technique | |
| CN105070024A (en) | Wireless vehicle-mounted remote meter reading monitoring management system and management method thereof | |
| CN205275124U (en) | Unmanned stack unit control system | |
| CN213581832U (en) | Intelligent paving monitoring system for earth and rockfill dam | |
| CN103778505A (en) | System and method for intelligent coal mine locomotive management based on RFID and Wi-Fi technologies | |
| CN103016061A (en) | Underground locating and monitoring communication system | |
| CN107292987A (en) | A kind of line inspection system | |
| CN210236897U (en) | Automatic walking control system of RTG cart based on GNSS and INS | |
| CN202512722U (en) | Movable type electric transmission and transformation equipment condition monitoring system | |
| CN216901371U (en) | Equipment material monitoring devices who uses at wisdom building site | |
| CN216014297U (en) | High-speed rail power supply intelligent operation and maintenance platform based on industrial internet | |
| CN200981790Y (en) | Wireless guiding device for crane | |
| CN204189295U (en) | A kind of mine underground information acquisition system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |