Ad Hoc network-based crane automatic cruising system of Beidou positioning system, and method thereof

A Beidou positioning and automatic cruising technology, which is applied to cranes, load hanging components, transportation and packaging, etc., can solve problems such as high cost, increased system cost, and slow communication speed, and achieve high production safety, low communication cost, The effect of low hardware cost

Active Publication Date: 2015-08-12
EAST CHINA NORMAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This approach will have obvious defects when the number of visits is large: the communication speed is slow, and all GPS mobile stations (including GPS mobile stations in non-port areas) will access the servers of GPS data operators or public CORS data processing centers, which is very difficult. It is easy to cause communication interruption or blockage, resulting in loss of control of the RTG crane
If mobile communication operators are required to increase the number of base stations to achieve coverage without blind spots, it will increase the cost of the system
In addition, because the metal obstacles in the port area will change their positions and heights at any time, resulting in real-time changes in communication blind spots, even if the number of base stations is increased, it is difficult to achieve no blind area coverage in the entire port area
[001

Method used

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  • Ad Hoc network-based crane automatic cruising system of Beidou positioning system, and method thereof
  • Ad Hoc network-based crane automatic cruising system of Beidou positioning system, and method thereof
  • Ad Hoc network-based crane automatic cruising system of Beidou positioning system, and method thereof

Examples

Experimental program
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Example Embodiment

[0060] (Example 1)

[0061] image 3 Shown is a preferred embodiment of the present invention, a Beidou positioning base station 10 and a main control platform 40 are jointly connected with an ad hoc network communication device 30, and both use the ad hoc network communication device 30 and each positioning and tracking device 20 at the same time exchange data between. Moreover, other ad hoc network communication devices 30 are integrated and installed inside each positioning and tracking device 20, so that the overall function of the positioning and tracking device 20 is more perfect and easier to install. Each positioning and tracking device 20 is further provided with a storage unit 23 for storing preset routes, coordinates, data processing results and other data.

[0062] (Ad hoc network topology and communication mode)

[0063] In a specific embodiment of the present invention, the ad hoc network communication devices 30 connected respectively between the positioning an...

Example Embodiment

[0079] (Embodiment 2, three base stations and virtual base station technology)

[0080] like Figure 8 As shown, this embodiment includes three Beidou positioning base stations 11 , 12 and 13 . The Beidou positioning base station 11 is connected to the ad hoc network communication device 311 , the Beidou positioning base station 12 is connected to the ad hoc network communication device 312 , and the Beidou positioning base station 13 is connected to the ad hoc network communication device 313 . Three Beidou positioning base stations are distributed in the port area, and the signals emitted by them cover the entire port area, enabling Beidou satellite positioning information to be broadcast to cover the entire network. The main control platform 40 is connected with the ad hoc network communication device 314 .

[0081] (auto cruise function)

[0082] like Figure 9 As shown, the main control platform 40 sends RREQ information in broadcast addressing mode through the connec...

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Abstract

The invention discloses an Ad Hoc network-based crane automatic cruising system of an RTK Beidou positioning system. The Ad Hoc network-based crane automatic cruising system comprises: at least one Beidou positioning base station used for acquiring base station positioning data of the Beidou positioning base station; at least one positioning tracking device used for acquiring corresponding RTG crane positioning data and connected with a control device arranged in a crane; and at least two Ad Hoc network communication devices respectively communicated with the Beidou positioning base station and the positioning tracking device, wherein Ad Hoc network is established between the Ad Hoc network communication devices; the RTK Beidou positioning base station sends the base station positioning data through the Ad Hoc network communication devices; and positioning tracking devices transmit data, acquire the carrier wave phase observed value of the base station through the Ad Hoc network communication devices, carries out positioning calibration by combining positioning data of the above RTG crane to obtain the RTK coordinate of the RTG crane, and realizes automatic cruising through a control apparatus according to the RTK coordinate of the RTG crane and a cruising algorithm. The invention also discloses an automatic cruising method.

Description

technical field [0001] The invention belongs to the technical field of communication and positioning, and in particular relates to a crane automatic cruising system and method based on an ad hoc network-based RTK Beidou positioning system. Background technique [0002] The two main problems facing the port at present are the position monitoring of RTG cranes (rubber tire gantry, rubber tire gantry cranes) and the tracking of RTG cranes. At present, because the port uses the radio communication system to command the driver to move the RTG crane and lift the container, it is not conducive to the automatic management of the RTG crane. At the same time, because there is no fixed track, the driver of the RTG crane must continuously correct the deviation manually, which will easily cause driver fatigue and cause accidents. [0003] A kind of existing means is based on the GPS navigation system of radio station RTK (real-time kinematic, real-time dynamic positioning technology) to...

Claims

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Application Information

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IPC IPC(8): B66C13/18B66C13/46
CPCB66C13/44B66C13/46B66C2700/088
Inventor 邱崧钟阳刘红英孙力周梅张聪慧金豫陈慧产
Owner EAST CHINA NORMAL UNIVERSITY
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