A vertical positioning system and positioning method for the front end of a boom
A technology of vertical direction and positioning method, applied in loading/unloading, control using feedback, conveyor control device, etc., can solve the problem of GPS system not being able to receive satellite signals, etc., to reduce the problem of poor positioning accuracy and high positioning accuracy. Effect
Active Publication Date: 2019-03-08
TIDFORE HEAVY IND
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Problems solved by technology
With the increasingly stringent environmental protection requirements, many stockyards operated by stackers and reclaimers have been converted into closed stockyards. The closed stockyards are closed with steel greenhouses, so that the GPS system cannot receive satellite signals, and the RTK-GPS positioning system is not applicable. used in closed yards
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[0045] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0046] like figure 1 and figure 2The vertical positioning system of the front end of the boom of the stacker-reclaimer includes a first angle sensor 4 for detecting the angle between the boom segment and the horizontal plane between the pitch hinge point 1 of the boom frame and the hinge point 2 of the pull rod of the boom frame; The second angle sensor 5 for the angle between the boom section and the horizontal plane between the hinge point 2 of the tie rod and the front end point 3 of the boom; at least a data processing unit capable of collecting data from the first angle sensor and the second angle sensor, data filtering and data calculation ; At least the automatic control system that can control the boom operation; the angle data detected by the first angle sensor 4 and the second angle sensor 5 are all output to...
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The present invention provides a cantilever crane front end vertical direction positioning system and method. The system comprises a first angle sensor configured to detect the included angle between a horizontal plane and a cantilever crane segment between a cantilever crane pitching hinge point and a cantilever crane pull rod hinge point; a second angle sensor configured to detect the included angle between a horizontal plane and a cantilever crane segment between a cantilever crane pull rod point and a cantilever crane front end point; a data processing unit having functions of angle sensor data acquisition, data filtering and data calculation; and an automatic control system. The angle data detected by the angle sensors are all outputted to the data processing unit; the data processing unit filters and resolves the received data, obtains cantilever crane vertical direction positioning data, and outputs the cantilever crane vertical direction positioning data to the automatic control system through an industrial bus; and the automatic control system controls the running of the cantilever crane according to the positioning data.
Description
technical field [0001] The invention relates to the technical field of engineering machinery, in particular to a positioning system and a positioning method in the vertical direction of the front end of a boom. Background technique [0002] When the stacker-reclaimer is working automatically, when the distribution of the stockpile and the surface space coordinates are known, the stacker-reclaimer can automatically control the stacker-reclaimer operation, and the control accuracy and operating efficiency largely depend on the positioning of the front end of the boom precision. When stacking, the material is unloaded from the front end of the boom to the material yard. When retrieving the material, the bucket wheel mechanism at the front end of the boom contacts the pile for retrieving the material. When the positioning accuracy of the front end of the boom is not high, it is very easy to take the material during retrieving. If the layer height is too large or too small, the ...
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IPC IPC(8): G05D3/12B65G65/28B65G43/00
CPCB65G43/00B65G65/28G05D3/12
Inventor 周泉黄欢杨天龙杨天宇剪欣文利刘安庆
Owner TIDFORE HEAVY IND