Positioning system of grab ship unloader

Abstract

The invention relates to the technical field of ship unloaders, and discloses a grab ship unloader positioning system which comprises a first positioning mobile station and a first positioning antenna which are mounted on a trolley, a positioning base station and a second positioning antenna which are cooperatively mounted on a fixed building, and a correction mechanism of a control terminal for mobile station coordinates based on the base station, and a high-precision differential positioning system is constructed. Compared with a traditional mode that the position of the trolley is indirectly measured by means of an encoder, direct, real-time and accurate positioning is achieved, the problem that accuracy is insufficient due to measurement errors of a steel wire rope reel is solved, the positioning accuracy of the trolley reaches the centimeter level, the strict requirement for position accuracy of full-automatic control of the ship unloader is completely met, and the working efficiency is improved. The grab attitude stability is effectively guaranteed, and the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship unloaders, in particular to a positioning system of a grab ship unloader. BACKGROUND

[0002] In a bridge-type grab ship unloader, a trolley is pulled to run by a steel wire rope, and a plurality of guide pulleys are arranged on the trolley. A lifting rope of a grab and a closing rope are wound on a winding drum of a lifting mechanism and a closing mechanism after passing through the guide pulleys. Since the trolley runs at a high speed and is accompanied by large vibration, it is difficult to install a positioning device on the trolley. In the conventional trolley positioning, a high-speed incremental encoder or a low-speed absolute value encoder carried by a winding drum motor is used to indirectly obtain a real-time position of the trolley by calculating a length of the steel wire rope wound on the winding drum. Such an indirect measurement method makes the trolley position inaccurate, and although it can meet the requirements of manual operation, it cannot meet the accuracy standards required by full-automatic control of the ship unloader. In the full-automatic control of the ship unloader, the trolley runs at a high speed, and even a position error of tens of centimeters may cause the grab to lose control.

[0003] In the existing market, a full-automatic scheme adopts an RFID and laser reflection type positioning method. In the RFID positioning, a reading head is installed on the side or bottom of the trolley, and a code carrier is installed at every interval on a trolley track, so that the reading head assigns a value to the encoder by reading different code carriers. However, the trolley may jump and horizontally deviate due to a deviation of the two sides of the track or a force deviation of the steel wire rope, which causes a position deviation to be too large because some positions cannot read the code carrier. In the laser reflection type, a reflection plate is installed on the trolley, and a laser emitter is installed at the head of a girder, so that the laser emitter is positioned by laser reflection. This scheme has a simple structure and does not need to supply power to the trolley. However, the vibration and horizontal deviation of the trolley during running may cause the laser to be unable to irradiate the reflection plate. If the reflection plate is increased to enhance the reflection ability, the reflection plate may collide with the steel structure during running and be blown off by the wind on the wharf, and the positioning accuracy is significantly reduced in bad weather such as heavy fog and heavy rain. Therefore, the trolley positioning scheme of the full-automatic ship unloader needs to fully consider the actual running conditions of the trolley and the influence of the running environment of the ship unloader. SUMMARY

[0004] Therefore, the present application provides a positioning system of a grab ship unloader to solve the problem of inaccurate positioning of the ship unloader.

[0005] The present application provides a positioning system of a grab ship unloader, which comprises: a first positioning mobile station installed on a trolley of a ship unloader; a first positioning antenna installed on the trolley; a positioning reference station installed on a fixed building at a known position coordinate; a second positioning antenna installed on the fixed building at the known position coordinate; and a control terminal configured to obtain position coordinates of the positioning mobile station and the positioning reference station, and correct the position coordinates of the positioning mobile station based on the position coordinates of the positioning reference station.

[0006] In the present application, the first positioning mobile station and the first positioning antenna are installed on the trolley, the positioning reference station and the second positioning antenna are installed on the fixed building, and the control terminal is based on the correction mechanism of the reference station to the coordinates of the mobile station to build a high-precision differential positioning system. Compared with the traditional indirect measurement of the trolley position by relying on the encoder, this scheme realizes direct, real-time and accurate positioning, avoids the problem of insufficient precision caused by the measurement error of the wire drum, and makes the positioning accuracy of the trolley reach the centimeter level, fully meets the strict requirements of the position accuracy of the ship unloader for automatic control, effectively guarantees the stability of the grab posture, and improves the operation safety.

[0007] In an optional embodiment, the positioning mobile station and the positioning reference station both use GPS positioning.

[0008] In an optional embodiment, the positioning mobile station and the positioning reference station both use Beidou positioning.

[0009] In an optional embodiment, the positioning reference station is in communication connection with the control terminal through optical fiber communication.

[0010] In an optional embodiment, the grab bucket ship unloader positioning system further comprises: a second positioning mobile station installed on the trolley of the ship unloader; and a third positioning antenna installed on the trolley of the ship unloader.

[0011] In the present application, the second positioning mobile station and the third positioning antenna are installed on the trolley of the ship unloader, which realizes accurate monitoring of the running track of the trolley. In the past, only the trolley positioning was concerned, and the position deviation of the trolley was ignored, which may cause error accumulation when the trolley and the trolley cooperate, and affect the overall operation efficiency and safety. The extended scheme enables the positioning system to fully grasp the position information of the trolley and the trolley of the ship unloader, optimizes the operation path planning, reduces the potential risks caused by the inaccurate position of the trolley, and improves the stability and coordination of the overall operation of the ship unloader.

[0012] In an optional embodiment, the grab bucket ship unloader positioning system further comprises: a power supply device for supplying power to the trolley.

[0013] In an optional embodiment, the power supply device is a wireless power supply device.

[0014] In the present application, the power supply device adopts a wireless power supply mode, the transmitter is installed at the normal stop position of the trolley, and the receiver is installed on the trolley, thereby solving the problem of difficulty in supplying power to the positioning device installed on the trolley. Compared with the traditional wired power supply mode, the wireless power supply avoids cable wear, dragging and even breakage caused by high-speed operation and vibration of the trolley, reduces maintenance cost and equipment downtime; at the same time, the wireless power supply does not need manual plugging and unplugging of the cable, realizes automatic charging, improves work efficiency, and in a harsh port environment, the protection performance of the wireless power supply equipment is better, which can adapt to complex conditions such as humidity and salt fog, and guarantee the reliability of power supply.

[0015] In an alternative embodiment, the wireless power supply device comprises a transmitter and a receiver, wherein the transmitter is installed at the normal stop position of the trolley, and the receiver is installed on the trolley. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0017] Figure 1 is a composition diagram of the grab ship unloader positioning system according to the embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0019] It can be understood that before using the technical solutions disclosed in each embodiment of the present application, the user should be informed of the type, use range, use scene and the like of the personal information involved in the present application and obtain the authorization of the user in accordance with relevant laws and regulations.

[0020] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0021] A grab ship unloader positioning system is provided in the present embodiment, as shown, comprising: Figure 1 As shown, a first positioning mobile station 1 is installed on the trolley of the unloader. Figure 1

[0022] Specifically, the first positioning mobile station 1 serves as the “mobile perception core” of the entire positioning system, and it is crucial to precisely install the first positioning mobile station 1 on the trolley of the unloader. The trolley of the unloader is responsible for the key task of grabbing and transporting goods, and the accuracy of its running track directly affects the efficiency and safety of unloading. The first positioning mobile station 1 uses a high-precision GPS or Beidou positioning and orientation receiver, which can capture satellite signals in real time and provide raw data support for the position monitoring of the trolley.

[0023] As shown, a first positioning antenna 2 is installed on the trolley. Figure 1

[0024] Specifically, the first positioning antenna 2 is also installed on the trolley and closely cooperates with the first positioning mobile station 1. The antenna is specially designed with high gain and low loss characteristics, which can effectively enhance the reception strength and stability of satellite signals, ensuring that in complex port environments, such as dense container shielding and adverse weather interference, the positioning signals from the satellite can still be stably and efficiently received, thereby providing reliable signal input for the positioning mobile station.

[0025] As shown, a positioning reference station 3 is installed on a fixed building at a known position coordinate. Figure 1

[0026] Specifically, the positioning reference station 3 is installed on a fixed building near the unloader with known accurate coordinates, serving as the “precision ruler” of the positioning system. It continuously receives signals from multiple satellites (such as GPS and Beidou satellite systems), and based on the known absolute accurate coordinates, it can accurately calculate the deviation between the satellite signal measurement value and the true value, i.e., generate differential data. The sources of these deviations are diverse, including satellite orbit errors, signal delays during atmospheric propagation, and small time differences between satellite clocks and ground clocks. The reference station integrates and processes these differential data containing various error information to form accurate correction parameters.

[0027] As shown, a second positioning antenna 4 is installed on a fixed building at a known position coordinate. Figure 1

[0028] ​​​​​Specifically, the second positioning antenna 4 is installed on a fixed building position with the same known position coordinates as the positioning reference station 3. It works in cooperation with the positioning reference station 3, mainly responsible for receiving positioning signals from satellites and accurately transmitting signals to the positioning reference station 3. The second positioning antenna 4 adopts advanced anti-interference technology, which can effectively filter electromagnetic interference signals in the environment, ensure that the signals transmitted to the positioning reference station 3 are pure and accurate, and thus improve the accuracy of the positioning reference station 3 in calculating error data.

[0029] The control terminal 5 is used to obtain the position coordinates of the positioning mobile station and the positioning reference station 3, and correct the position coordinates of the positioning mobile station based on the position coordinates of the positioning reference station 3.

[0030] Specifically, the control terminal 5 as the "wisdom brain" of the entire positioning system undertakes the key functions of data processing and instruction output. It obtains the position coordinates of the positioning mobile station and the positioning reference station 3 in real time through a high-speed and stable communication network such as optical fiber communication. The control terminal 5 uses complex and accurate differential positioning algorithms to correct the position coordinates of the positioning mobile station in real time based on the accurate position coordinates of the positioning reference station 3.

[0031] Optionally, after receiving the differential data, the control terminal 5 uses the built-in high-precision positioning algorithm to deeply fuse and calculate these correction parameters with its initial positioning data. The algorithm will correct the propagation time and path of satellite signals one by one according to the error information provided in the differential data, so as to eliminate the positioning deviation caused by common errors of satellite systems. After this series of real-time and precise calculation and correction process, the positioning accuracy of the mobile station is greatly improved, and finally the positioning error can be controlled within centimeter level.

[0032] The centimeter-level positioning accuracy is of great significance to the automatic operation of the grab ship unloader. In actual port operation, the grab needs to accurately grab and place goods, and any deviation may cause serious problems such as goods damage and equipment collision. The mobile station positioning data with centimeter-level accuracy can provide accurate position information for the control system of the ship unloader, so that the grab can run according to the preset accurate trajectory, efficiently complete the loading and unloading task, significantly improve the safety and efficiency of port operation, and promote the port to the direction of intelligentization and unmanned.

[0033] In some optional embodiments, the positioning mobile station and the positioning reference station 3 are the core perception components of the grab ship unloader positioning system, and have high flexibility and reliability in positioning technology selection, both of which adopt GPS or Beidou positioning.

[0034] Specifically, if GPS (Global Positioning System) is adopted, this technology relies on a constellation of multiple satellites, which can achieve global all-weather coverage. With its mature technical system and extensive application cases, it can quickly lock the satellite signal in an open port environment and provide stable positioning services. Its positioning algorithm has been iteratively optimized for decades and performs outstandingly in signal transmission stability and data processing speed. Combined with differential positioning technology, the positioning accuracy of the ship unloader can reach centimeter level, meeting the needs of automated operations.

[0035] If the Beidou positioning system is selected, Beidou has unique advantages. On the one hand, its satellite networking covers geostationary orbit, inclined geosynchronous orbit, and medium circular earth orbit, providing key enhanced coverage in the Asia-Pacific region. In the context of port operations in China, the signal reception capability is stronger and the positioning delay is lower. On the other hand, the Beidou system integrates navigation and positioning with short message communication functions, enabling accurate acquisition of positioning data and emergency data transmission when communication networks are poor, thereby ensuring the redundancy and security of the positioning system. In addition, the Beidou system is continuously upgraded in terms of anti-interference and anti-deception capabilities, providing solid and reliable technical support for ship unloader positioning.

[0036] Whether it is the universality and maturity of GPS or the autonomy and functional diversity of Beidou, both can be deeply adapted to the positioning system of the grab ship unloader. Through accurate reception of satellite signals and differential data correction, high-precision positioning is achieved, providing protection for intelligent port operations.

[0037] In some optional embodiments, in the intelligent operation system of the grab ship unloader, the fusion of GPS positioning data of the first mobile station and the spatial three-dimensional coordinates of the ship unloader is a key technical link to achieve fully automatic and accurate operation of the trolley. The GPS positioning data of the first mobile station is essentially latitude and longitude coordinates and elevation information obtained based on satellite navigation systems (such as GPS and Beidou), belonging to the geographic coordinate system. However, the ship unloader operation needs to rely on a three-dimensional coordinate system (X, Y, Z axes) to describe the precise position and motion trajectory of the device in space. There are significant differences between the two in terms of data dimensions and reference bases. Therefore, the system needs to convert the GPS positioning data of the mobile station from the geographic coordinate system to the spatial three-dimensional coordinate system of the ship unloader through a series of complex mathematical conversion and calibration algorithms.

[0038] In the specific implementation process, first, a conversion model between the geographic coordinate system and the spatial three-dimensional coordinate system needs to be established, which usually involves coordinate translation, rotation, scaling, and other geometric transformation operations. Meanwhile, considering the influence of factors such as port topography, earth curvature, etc., a geoid refinement model needs to be introduced to correct the elevation data. The system constructs a conversion parameter database by pre-measuring the coordinates of key nodes (such as track starting points and reference points) of the ship unloader in both coordinate systems, ensuring the accuracy and real-time performance of the conversion process.

[0039] After coordinate conversion, the real-time changes of the first mobile station's latitude and longitude in the running direction will be accurately mapped as displacement in the space coordinate system of the ship unloader. For example, the horizontal movement of the trolley along the track corresponds to the change of the X-axis coordinate in the space coordinate system, and the lifting action reflects the change of the Z-axis coordinate. The system converts these dynamic coordinate changes into real-time position values of the trolley through a high-speed data processing module. These position values not only include the precise coordinates of the trolley in space, but also cover key parameters such as running speed and direction.

[0040] These real-time position values, as the core reference of the trolley operation data, are directly transmitted to the automatic control system of the ship unloader. Based on this data, the control system combines the preset operation path and task instructions to adjust the trolley's running state in real time through a precise servo drive system. Whether it is to control the grab bucket to accurately grasp the cargo at the specified location or to perform obstacle avoidance operations in complex working conditions, the real-time position values with centimeter-level precision can ensure that the trolley performs each action with high accuracy. Even under the influence of interference factors such as strong wind and equipment vibration, the system can still make quick adjustments based on real-time position feedback, thus meeting the stringent requirements of trolley full-automatic operation for positioning accuracy, response speed, and stability, effectively improving the efficiency and safety of port loading and unloading operations, and promoting the construction of smart ports to a new height.

[0041] In some optional embodiments, the positioning reference station 3 is in communication connection with the control terminal 5 through optical fiber communication.

[0042] In the grab bucket ship unloader positioning system, a high-efficiency and stable communication link is established between the first mobile station and the positioning reference station 3, and the two work collaboratively under the same network through optical fiber communication technology, which provides a solid guarantee for the real-time interaction of high-precision positioning data. Optical fiber communication uses optical signals as information carriers and uses thin glass or plastic optical fibers for data transmission. Compared with traditional wireless communication or cable transmission methods, it has unparalleled technical advantages.

[0043] By integrating the first mobile station and the positioning reference station 3 into the same optical fiber communication network, efficient management and unified scheduling of data are also achieved. Through the optimization configuration of network protocols, the two can be precisely synchronized in time, ensuring the time consistency of data acquisition and transmission, which is crucial for high-precision positioning based on the principle of differential positioning. At the same time, the network has a perfect redundancy backup mechanism. When a section of optical fiber is broken or fails, the standby line can automatically switch quickly to ensure uninterrupted communication link, further improving the reliability of the entire positioning system. In addition, the unified network architecture facilitates remote monitoring and maintenance of the system. Technical personnel can monitor the working status of the GPS mobile station and the reference station in real time through the network, timely discover and handle potential problems, and greatly improve the operation and maintenance efficiency of the equipment.

[0044] In some optional embodiments, as shown in Figure 1 The grab ship unloader positioning system further comprises: As shown in Figure 1 The second positioning mobile station 6 is installed on the trolley of the ship unloader.

[0045] Specifically, the second positioning mobile station 6 is precisely installed on the trolley of the ship unloader, serving as a key module for monitoring the position of the trolley. The trolley of the ship unloader serves as a mobile base for carrying core components such as the trolley and the grab bucket, and the stability and positioning accuracy of its operation play a decisive role in the entire unloading operation process. The second positioning mobile station 6 is equipped with a high-performance satellite positioning chip set that can simultaneously receive signals from multiple satellite systems such as GPS and Beidou, and has strong signal acquisition and processing capabilities.

[0046] Optionally, in the face of the changing environment of the port, such as strong wind, high humidity, and complex electromagnetic environment, the second positioning mobile station 6 can quickly eliminate invalid signals and accurately lock valid positioning data through built-in anti-interference algorithms and dynamic filtering techniques, providing stable and reliable raw information for the position monitoring of the trolley.

[0047] As shown in Figure 1 The third positioning antenna 7 is installed on the trolley of the ship unloader.

[0048] Specifically, the third positioning antenna 7 is stably installed on the trolley of the ship unloader, forming a high-efficiency cooperative combination with the second positioning mobile station 6. The antenna adopts an array design, has the characteristics of high gain and wide beam, and can receive satellite signals in all directions within a large angle range, effectively compensating for the signal reception blind area that may be caused by attitude changes during the movement of the trolley.

[0049] Optionally, the shell of the third positioning antenna 7 is made of special materials with high strength and corrosion resistance, which can resist the erosion of salt spray, sand, and other harsh conditions in the port, ensuring the long-term stable operation of the antenna. Inside it, a low-noise amplifier and a signal preprocessing circuit are integrated, which can amplify and preliminarily process the weak satellite signals received, reduce signal transmission loss, and transmit the signals to the second positioning mobile station 6 with a higher signal-to-noise ratio, thereby significantly improving the accuracy and reliability of the trolley positioning and ensuring the smooth operation of the trolley on the track, providing a solid foundation for the accurate operation of the trolley.

[0050] In some optional embodiments, the grab ship unloader positioning system further comprises a power supply device for supplying power to the trolley.

[0051] Specifically, the stable operation of the grab ship unloader positioning system cannot be achieved without reliable energy supply. Therefore, the system is specially equipped with a power supply device, the core function of which is to provide continuous and stable power support for the trolley to ensure the normal operation of the trolley and the positioning equipment on the trolley.

[0052] In some optional embodiments, the power supply device is a wireless power supply device.

[0053] Specifically, the power supply device in the grab ship unloader positioning system adopts wireless power supply technology, completely innovating the traditional wired power supply mode, and providing an innovative energy solution for the stable operation of the trolley and the positioning equipment. Based on the principle of electromagnetic induction or magnetic resonance, the wireless power supply device realizes efficient power transmission from the fixed end to the mobile end through non-contact energy transmission, greatly improving the flexibility and reliability of the system.

[0054] In some optional embodiments, the wireless power supply device includes a transmitter and a receiver, wherein the transmitter is installed at the normal stop position of the trolley, and the receiver is installed on the trolley.

[0055] Specifically, the transmitter and the receiver interact data in real time through a digital communication protocol. When the trolley approaches the charging area, the receiver sends a wake-up signal, and both sides realize centimeter-level accurate positioning using ultra-wideband positioning technology. Based on the feedback of the receiver, the transmitter adjusts the output power in real time. In addition, the system integrates electromagnetic field shielding devices and foreign object detection algorithms. Once an anomaly occurs, the energy transmission is interrupted and an alarm is given. The wireless power supply device completely breaks free from the limitations of traditional cable power supply, reduces maintenance costs, improves operational flexibility and environmental adaptability, and provides strong support for the intelligent upgrading of port equipment.

[0056] Optionally, in the grab ship unloader positioning system, the receiver installed on the trolley adopts an innovative combination scheme of "battery energy storage + wireless charging", effectively solving the problem of continuous power supply for mobile devices. The power required by the receiver on the trolley is provided by a high-performance lithium battery pack, which has the characteristics of high energy density and long cycle life, and can meet the stable power demand of the positioning equipment and other power units on the trolley during operation.

[0057] The charging process of the battery fully plays the advantages of wireless power supply technology. Specifically, a customized wireless charging transmitter is installed on the side of the girder at the normal stopping position of the trolley. The transmitter adopts electromagnetic induction or magnetic resonance principle, and is internally provided with a high-frequency power module and a large-size transmitting coil, which can convert the input power frequency alternating current into a high-frequency alternating magnetic field. The transmitter shell is specially designed, and is made of high-strength and corrosion-resistant alloy material, which can resist salt mist and sand erosion in the complex environment of the port, and has good electromagnetic shielding performance to reduce interference on the surrounding equipment. The transmitter is also equipped with an intelligent power adjustment system, which can automatically adjust the output power according to the charging state of the receiving end to realize efficient and energy-saving charging.

[0058] Correspondingly, the trolley is installed with a set of wireless charging receiver at the position corresponding to the transmitter, and the two are arranged in an upper-lower vertical manner. This layout design can maximize the electromagnetic coupling efficiency and ensure stable energy transmission. The receiver is provided with a high-sensitivity receiving coil and an efficient rectifier circuit, which can convert the captured alternating magnetic field energy into stable direct current to safely charge the lithium battery pack through the intelligent charging management module. The charging management module integrates multiple protection mechanisms such as overvoltage, overcurrent and overheating, and monitors the battery charging state in real time. Once an abnormality occurs, the charging is immediately stopped to ensure the safety of the charging process.

[0059] The entire charging process is automatically started during the stoppage of the ship unloader. When the trolley is parked at the designated position, the transmitter and the receiver automatically recognize and establish communication connection through the built-in sensing device, the transmitter starts energy transmission, and the receiver starts charging the battery. The charging process does not require manual intervention, and since the wireless power supply method is adopted, the cumbersome operation of plugging and unplugging the traditional charging cable is completely eliminated, and the power supply failure caused by cable wear and tear and dragging is avoided, greatly improving the reliability and maintenance convenience of the system. This "wireless charging + battery energy storage" power supply scheme not only ensures the continuous and stable operation of the receiver and other equipment on the trolley, but also provides a solid energy guarantee for the automation and intelligent operation of the grab ship unloader, effectively improving the efficiency and safety of the port loading and unloading operation.

[0060] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A positioning system for a grab bucket ship unloader, characterized in that, include: The first positioning mobile station (1) is installed on the trolley of the unloading machine; The first positioning antenna (2) is installed on the trolley; The positioning reference station (3) is installed at the location of a fixed building with known coordinates; The second positioning antenna (4) is installed at the location of a fixed building with the known coordinates. The control terminal (5) is used to obtain the position coordinates of the positioning mobile station and the positioning reference station (3), and to correct the position coordinates of the positioning mobile station based on the position coordinates of the positioning reference station (3).

2. The positioning system for a grab unloader according to claim 1, characterized in that, Both the positioning mobile station and the positioning reference station (3) use GPS positioning.

3. The positioning system for a grab unloader according to claim 1, characterized in that, Both the positioning mobile station and the positioning reference station (3) adopt Beidou positioning.

4. The positioning system for a grab unloader according to claim 1, characterized in that, The positioning reference station (3) is connected to the control terminal (5) via optical fiber communication.

5. The positioning system for a grab unloader according to claim 1, characterized in that, Also includes: The second positioning mobile station (6) is installed on the trolley of the ship unloader; The third positioning antenna (7) is installed on the trolley of the unloader.

6. The positioning system for a grab unloader according to claim 1, characterized in that, Also includes: A power supply device that supplies power to the vehicle.

7. The positioning system for a grab unloader according to claim 6, characterized in that, The power supply device is a wireless power supply device.

8. The positioning system for a grab unloader according to claim 7, characterized in that, The wireless power supply device includes: a transmitter and a receiver, wherein... The transmitter is installed at the normal stopping position of the vehicle; The receiver is installed on the vehicle.

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