Aerial work equipment navigation positioning device, positioning method and aerial work equipment

A high-altitude operation, navigation and positioning technology, applied in the field of positioning and navigation, can solve the problems of inaccurate positioning of the working platform, low operation efficiency, complex positioning technology, etc., and achieve the effect of convenient operation, convenient and flexible operation, and cost reduction.

Active Publication Date: 2019-02-19
ZOOMLION INTELLIGENT ACCESS MASCH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In view of the inaccurate positioning of the working platform in the prior art, the low operating efficiency, complex positioning technology and high cost, the present invention provides a navigation and positioning device for aerial work equipment with convenient operation, accurate positioning and high efficiency

Method used

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  • Aerial work equipment navigation positioning device, positioning method and aerial work equipment
  • Aerial work equipment navigation positioning device, positioning method and aerial work equipment
  • Aerial work equipment navigation positioning device, positioning method and aerial work equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0064] Such as Figure 1~2 As shown, this embodiment provides a navigation and positioning device for empty working equipment, including:

[0065] Set the positioning beam generator on the working platform to emit visible light to the target point in any range of 360°;

[0066] A three-axis position sensor is set to detect the angle information of the positioning beam generator in the three directions of X, Y, and Z;

[0067] Set up the solver to obtain the angle information of the positioning beam generator in the X, Y, and Z directions and the position information of each joint on the aerial work equipment, and then solve the motion direction, motion range, speed and direction deviation data of each joint, and control the joint The motion data is sent to the host control system of aerial work equipment;

[0068] The host control system controls each joint to move the working platform to the target point according to the beam direction according to the control parameters gi...

Embodiment 2

[0115] This embodiment is basically the same as Embodiment 1, except that the aerial work equipment in this embodiment is a straight-arm aerial work platform. Therefore, the position sensors of each joint do not include the angle sensor of the tower arm. Accordingly, the motion direction, range of motion, speed and direction deviation data of each joint described in the corresponding steps are solved as follows:

[0116]

[0117] The above equations are used to determine the range of motion and direction of motion of each movable joint, where,

[0118] Turntable offset, positive means right rotation, negative means left rotation; α 0 : Indicates the initial angle of the turntable;

[0119] Main arm offset, positive means the main arm rises, negative means the main arm falls; γ 0 : indicates the initial angle of the main arm;

[0120] Flying arm offset, positive means the flying arm is rising, negative means the flying arm is falling; δ 0 : Indicates the initial an...

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Abstract

The invention relates to the technical field of positioning and navigation, and discloses an aerial work equipment navigation positioning device, a positioning method and aerial work equipment. The aerial work equipment navigation positioning device comprises a positioning light beam generator is arranged on a working platform and is used for emitting visible light to a target point in any range of 360 degrees; a three-axis position sensor is used for detecting the X, Y and Z direction angle information of the positioning light beam generator; a solver is arranged to acquire the position of the positioning light beam generator on the X, Y and Z direction angle information and the position information of all joints on the aerial work equipment, then the movement directions of the joints aresolved, movement amplitude, speed and direction deviation data and sending the data for controlling joint movement to a host control system of the aerial work equipment; and the host control system controls all joints to move the working platform to the target point according to the light beam direction according to the control parameters given by the solver, and the working platform is controlled by an operating mechanism in the moving process.

Description

technical field [0001] The invention belongs to the technical field of positioning and navigation, and more specifically, relates to a navigation and positioning device, a positioning method and an aerial work equipment for a work platform. Background technique [0002] Aerial work equipment is a kind of special equipment that lifts staff and machinery to a designated position in the sky for installation, maintenance, rescue and other operations, such as climbing fire trucks, straight arm aerial work platforms, and articulating arm aerial work platforms , scissor-type aerial work platform, aerial work vehicle (vehicle-mounted aerial work platform), etc., in the process of aerial work, a working bucket is required as a working platform, which plays the role of carrying staff rescue or maintenance tools, and is the key to realize aerial work An important device for the main function of the car. [0003] In the process of installation, maintenance, rescue and other operations ...

Claims

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Application Information

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IPC IPC(8): B66F11/04B66F13/00G01C21/34
CPCB66F11/04B66F13/00G01C21/34
Inventor 任会礼钟懿刘洋朱后王光辉熊路段建辉邓超
Owner ZOOMLION INTELLIGENT ACCESS MASCH CO LTD
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