Crane automatic cruise system and method based on ad hoc network Beidou positioning system

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...

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

[0014] ●Each GPS mobile station needs to use the mobile communication network, and has to pay a certain mobile communication fee every year, which is expensive

[0015] In order to obtain high-precision RTK data, it is necessary to pay a higher fee for GPS data operators or public CORS data processing centers, and the cost is high

[0016] Potential safety hazards: Since the calculation and acquisition of RTK data of high-precision positioning data must rely on GPS data operators or public CORS data processing centers to transmit through public mobile communication networks, if the mobile communication network fails or is paralyzed, the data will be lost halfway. Malicious interception and tampering, failure of the public CORS data processing center server and malicious intrusion and other emergencies will cause the RTG crane to lose control and cause major accidents

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