Front-handling crane/forklift positioning control system with positioning controller

Abstract

The invention relates to a front-handling crane / forklift positioning control system with a positioning controller, which comprises a GNSS reference station subsystem, a TOS interface subsystem, a plurality of GNSS mobile station subsystems, which respectively comprise a GNSSS receiver and an on-vehicle wireless terminal; wherein, the GNSSS receiver is used for obtaining and outputting GNSSS information of differential positioning state; and the on-vehicle wireless terminal is used for acquiring the distributed information of a container and catching working instruction information; the hangerposition of the front-handling crane / forklift which the GNSS mobile station subsystems are corresponding to is obtained according to the location information and compared with the box position of a box to be operated in the working instruction information, when the distance between the hanger position and the box position is equal to or less than a threshold valve, twist lock signals which show to allow twist lock are transmitted; otherwise, twist lock signals which show to prohibit twist lock are transmitted; the positioning controller comprises a twist lock control module, when the twist lock signals show to allow twist lock, a twist lock control loop used for controlling the controlled condition of the twist lock structure is connected, otherwise, the twist lock control loop is disconnected.

Description

technical field [0001] The invention relates to the monitoring field of container wharves and container yards, in particular to a positioning control system for a front stacker / forklift with a positioning controller. Background technique [0002] With the development of economy and trade, etc., the application of large-scale mechanical equipment such as reach stacker and stacker is becoming more and more extensive; when the working environment is relatively complicated and it is not easy to accurately locate, it is necessary to apply navigation and positioning technology to large-scale mechanical equipment. To assist the operator of large machinery and equipment to confirm the position, etc. [0003] In the container terminal, which is one of the commonly used places for large-scale mechanical equipment, the operating efficiency of large-scale mechanical equipment is directly related to the smooth flow of the transportation supply chain of the entire terminal. In such an en...

AI Technical Summary

Problems solved by technology

At present, a commonly used method is to combine the inertial navigation system with the GNSS system. When the positioning and navigation of the GNSS receiver is affected, the positioning and navigation is performed through the inertial navigation system; however, the positioning and navigation error of the inertial navigation system will continue over time And the continuous accumulation leads to the accumulation of errors, which leads to the problem of inability to accurately locate and navigate

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