A positioning method applied to bucket wheel machine positioning system

Abstract

A positioning method applied to a bucket wheel positioning system includes (1) obtaining and calculating a travel position signal; (2) obtaining and calculating a rotation position signal; and (3) obtaining a pitch angle signal. In the present invention, the travel coding cable and the rotation coding cable are in the form of a transmission reference line and a plurality of transmission pairs, which effectively improves the measurement accuracy; the signal is collected by electromagnetic coupling, and the travel position signal, the rotation position signal, and the pitch angle signal are processed separately, thereby improving the anti-interference ability of the system; the method of comparing the plurality of transmission pairs with the transmission reference line one by one is adopted, and the calculation method is simple, which can reduce the requirements on the processor.

Description

Technical Field

[0001] The invention belongs to the field of bucket wheel machines in material yards, and in particular relates to a positioning method applied to a bucket wheel machine positioning system. Background Art

[0002] Bucket wheel excavator is a large-scale, efficient material yard mechanized equipment, which is widely used in bulk material yards such as ports, terminals, energy, and chemicals for material turnover.

[0003] At present, the market mainly uses encoders, positioning tags, satellites and other methods to locate bucket wheel machines in the material yard. However, the encoder positioning recognition rate is low, there are many problems such as slippage, resulting in large positioning deviations. After the material yard is covered by the dry coal shed, the positioning signal attenuation problem of positioning tags, satellites and other positioning methods is difficult to avoid, which is also easy to cause large positioning deviations. With the success of the research on unmanned and fully automated bucket wheel machines, the market has put forward higher requirements for the precise positioning of bucket wheel machines, and the dependence on walking, rotation, and pitching accuracy is getting higher and higher. The higher the accuracy, the more it can meet the demand for unmanned bucket wheel machines. The current positioning methods are difficult to meet the needs of the market. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a bucket wheel machine positioning system and method with high positioning accuracy and strong anti-interference ability.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A bucket wheel machine positioning system, comprising a walking detection system, a rotation detection system, and a boom detection unit;

[0007] The walking detection system includes a walking antenna control box, a walking position detection box, and a walking coding cable; the walking coding cable is arranged along the walking direction of the bucket wheel machine; the walking antenna control box runs along the path of the walking coding cable; the walking antenna control box is electrically connected to the walking position detection box, and is used to obtain the walking position signal of the corresponding position from the walking coding cable by electromagnetic coupling; the walking position detection box is used to receive the walking position signal obtained by the walking antenna control box and process and transmit it;

[0008] The rotation detection system includes a rotation antenna control box, a rotation position detection box, and a rotation encoding cable; the rotation encoding cable is arranged along the rotation direction of the bucket wheel machine; the rotation antenna control box runs along the path of the rotation encoding cable; the rotation antenna control box is electrically connected to the rotation position detection box, and is used to obtain the rotation position signal of the corresponding position from the rotation encoding cable through electromagnetic coupling; the rotation position detection box is used to receive the rotation position signal obtained by the rotation antenna control box and process and transmit it;

[0009] The boom detection unit is used to detect and transmit the pitch angle signal of the bucket wheel machine.

[0010] The walking position detection box includes a walking address detector and a ground communicator; the walking address detector input end is electrically connected to the walking antenna control box, and the output end is electrically connected to the ground communicator.

[0011] The rotation position detection box includes a rotation address detector and a vehicle-mounted communicator; the rotation address detector input end is electrically connected to the rotation antenna control box, and the output end is electrically connected to the vehicle-mounted communicator.

[0012] A first head-end junction box and a first tail-end junction box are provided at both ends of the traveling coding cable; a second head-end junction box and a second tail-end junction box are provided at both ends of the rotary coding cable; the first head-end junction box and the second head-end junction box are both used for signal access; the first tail-end junction box is used to control the magnetic field emitted by the traveling coding cable; the second tail-end junction box is used to control the magnetic field emitted by the rotary coding cable.

[0013] The walking encoding cable is composed of an RX transmission reference line and i+1 pairs of GX transmission lines, and the i+1 pairs of GX transmission lines are GX0, GX1, GX2, ..., GXi respectively; the rotation encoding cable is composed of an RH transmission reference line and j+1 pairs of GH transmission lines, and the j+1 pairs of GH transmission lines are GH0, GH1, GH2, ..., GHj respectively; i and j are determined by the positioning accuracy and positioning distance.

[0014] The walking antenna control box is also used to control the walking coding cable through electromagnetic coupling; the rotating antenna control box is also used to control the rotating coding cable through electromagnetic coupling.

[0015] A positioning method using the above bucket wheel machine positioning system comprises: (1) acquiring and calculating a travel position signal; (2) acquiring and calculating a rotation position signal; and (3) acquiring a pitch angle signal through an angle sensor.

[0016] The walking encoding cable is composed of an RX transmission reference line and i+1 pairs of GX transmission lines, and the i+1 pairs of GX transmission lines are GX0, GX1, GX2, ..., GXi respectively; the rotation encoding cable is composed of an RH transmission reference line and j+1 pairs of GH transmission lines, and the j+1 pairs of GH transmission lines are GH0, GH1, GH2, ..., GHj respectively; i and j are determined by the positioning accuracy and positioning distance.

[0017] The step of obtaining the walking position signal comprises the following steps:

[0018] S11, the RX transmission reference line and the i+1 pair of GX transmission pairs generate magnetic fields respectively;

[0019] S12, the walking antenna control box obtains the electromagnetic signal of the location of the walking antenna control box from the magnetic field generated by the RX transmission reference line and the i+1 pair of GX transmission lines through electromagnetic coupling;

[0020] S13, the walking antenna control box amplifies the acquired electromagnetic signal and converts it into an electrical signal and transmits it to the walking position detection box;

[0021] S14, the walking position detection box compares the electrical signal converted from the RX transmission baseline and the electrical signal converted from the i+1 pair of GX transmission pairs one by one, and the ones with the same phase are recorded as "0", and the ones with the opposite phase are recorded as "1", and finally a binary string with a length of i+1 is obtained;

[0022] S15. Calculate the current walking position information according to the binary character string and the specific position measurement accuracy information, and generate a final walking position signal.

[0023] The acquisition of the rotation position signal comprises the following steps:

[0024] S11, the RH transmission baseline and j+1 pairs of GH transmission lines generate magnetic fields respectively;

[0025] S12, the slewing antenna control box obtains the electromagnetic signal of the position of the slewing antenna control box from the magnetic field generated by the RH transmission reference line and the j+1 pair of GH transmission lines through electromagnetic coupling;

[0026] S13, the rotary antenna control box amplifies the acquired electromagnetic signal and converts it into an electrical signal and transmits it to the rotary position detection box;

[0027] S14, the rotary position detection box compares the electrical signal converted from the RH transmission reference line and the electrical signal converted from the j+1 pair of GH transmission lines one by one, and records the consistent phase as "0" and the opposite phase as "1", and finally obtains a binary string with a length of j+1;

[0028] S15. Calculate the current rotation position information according to the binary string and the specific position measurement accuracy information, and generate a final rotation position signal.

[0029] Beneficial effects of the embodiments of the present invention:

[0030] The traveling coding cable and the rotating coding cable are in the form of a transmission reference line and a multi-strand transmission pair line, which effectively improves the measurement accuracy;

[0031] The signal is collected by electromagnetic coupling, which improves the anti-interference ability of the system. The stability of the system is further improved by collecting and preliminarily processing the walking position signal, the rotation position signal and the pitch angle signal respectively.

[0032] By comparing multiple transmission lines with the transmission baseline one by one and performing simple calculations based on the measurement accuracy, the walking and rotating position information can be obtained. The calculation method is simple and can greatly reduce the requirements for the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0034] Figure 1 is a schematic diagram of the system structure of an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of the structure of a walking detection system according to an embodiment of the present invention;

[0036] Figure 3 is a schematic structural diagram of a rotation detection system according to an embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of a walking detection box according to an embodiment of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of a rotary detection box according to an embodiment of the present invention;

[0039] Figure 6 It is a schematic diagram of the unfolded structure of the coding cable according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings.

[0041] refer to Figure 1-5 , a bucket wheel machine positioning system, including a walking detection system 100, a rotation detection system 200, and a boom detection unit 300;

[0042] The walking detection system 100 includes a walking antenna control box 110, a walking position detection box 120, and a walking coding cable 130; the walking coding cable 130 is arranged along the walking direction of the bucket wheel machine; the walking antenna control box 110 runs along the path of the walking coding cable 130; the walking antenna control box 110 is electrically connected to the walking position detection box 120, and is used to obtain a walking position signal of a corresponding position from the walking coding cable 130 by electromagnetic coupling; the walking position detection box 120 is used to receive, process, and transmit the walking position signal obtained by the walking antenna control box 110;

[0043] The walking position detection box 120 includes a walking address detector 121 and a ground communicator 122 ; the walking address detector 121 has an input end electrically connected to the walking antenna control box 110 , and an output end electrically connected to the ground communicator 122 .

[0044] The rotation detection system 200 includes a rotation antenna control box 210, a rotation position detection box 220, and a rotation encoding cable 230; the rotation encoding cable 230 is arranged along the rotation direction of the bucket wheel machine; the rotation antenna control box 210 runs along the path of the rotation encoding cable 230; the rotation antenna control box 210 is electrically connected to the rotation position detection box 220, and is used to obtain the rotation position signal of the corresponding position from the rotation encoding cable 230 through electromagnetic coupling; the rotation position detection box 220 is used to receive the rotation position signal obtained by the rotation antenna control box 210 and process and transmit it;

[0045] The rotation position detection box 220 includes a rotation address detector 221 and a vehicle-mounted communicator 222 . The input end of the rotation address detector 221 is electrically connected to the rotation antenna control box 210 , and the output end is electrically connected to the vehicle-mounted communicator 222 .

[0046] The boom detection unit 300 is used to detect the pitch angle signal of the bucket wheel machine and transmit it; in this embodiment, the boom detection unit 300 adopts a common angle sensor or a dual-mode tilt sensor;

[0047] In this embodiment, the angle sensor specifically adopts TMM88A-PKC090, and the measurement accuracy can reach 0.01°, which is a great improvement over the angle measurement accuracy used in the previous bucket wheel excavator positioning.

[0048] The two ends of the walking coding cable 130 are provided with a first head-end connection box and a first tail-end connection box; the two ends of the rotary coding cable 230 are provided with a second head-end connection box and a second tail-end connection box; the first head-end connection box and the second head-end connection box are both used as signal access; the first tail-end connection box is used to control the magnetic field emitted by the walking coding cable 130; the second tail-end connection box is used to control the magnetic field emitted by the rotary coding cable 230;

[0049] refer to Figure 6 , the walking coding cable 130 is composed of an RX transmission reference line and an i+1 pair of GX transmission lines, and the i+1 pair of GX transmission lines are GX0, GX1, GX2, ..., GXi; the rotary coding cable 230 is composed of an RH transmission reference line and a j+1 pair of GH transmission lines, and the j+1 pair of GH transmission lines are GH0, GH1, GH2, ..., GHj; i and j are determined by the positioning accuracy and positioning distance;

[0050] In this embodiment, both the GX transmission line pairs and the GH transmission line pairs use 11 pairs.

[0051] In this embodiment, the accuracy of positioning mainly depends on the precision of the transmission reference line and the multi-strand transmission pair lines in the traveling encoding cable 130 and the rotating encoding cable 230;

[0052] In this embodiment, a first encoding device is further provided in the first tail terminal junction box, which is used to control the magnetic field of the traveling encoding cable 130 to emit a specific changing rule; a second encoding device is further provided in the second tail terminal junction box, which is used to control the magnetic field of the rotating encoding cable 230 to emit a specific changing rule;

[0053] The walking antenna control box 110 and the walking encoding cable 130 are installed in a non-contact manner; the rotating antenna control box 210 and the rotating encoding cable 230 are installed in a non-contact manner;

[0054] In this embodiment, the walking antenna control box 110 runs along the walking coding cable 130, and the rotating antenna control box 210 runs along the rotating coding cable 230;

[0055] In this embodiment, when the walking antenna control box 110 is at different positions of the walking coding cable 130, the RX transmission reference line and the i+1 pair of GX transmission lines of the walking coding cable 130 will generate different induction signals. After the first encoding device collects these signals, it will generate an original walking position signal and transmit it to the walking antenna control box 110; when the rotating antenna control box 210 is at different positions of the rotating coding cable 230, the RH transmission reference line and the j+1 pair of GH transmission lines of the rotating coding cable 230 will generate different induction signals. After the second encoding device collects these signals, it will generate an original rotation position signal and transmit it to the rotating antenna control box 210;

[0056] The walking antenna control box 110 is also used to amplify the walking position signal; the slewing antenna control box 210 is also used to amplify the slewing position signal;

[0057] In this embodiment, by adding signal enhancement and preliminary preprocessing measures to the walking antenna control box 110 and the rotating antenna control box 210, the accuracy and stability of the walking position signal and the rotating position signal are effectively enhanced.

[0058] The traveling antenna control box 110 is also used to control the traveling encoding cable 130 by electromagnetic coupling; the rotating antenna control box 210 is also used to control the rotating encoding cable 230 by electromagnetic coupling.

[0059] The above bucket wheel positioning system also includes a main control unit, which is electrically connected to the travel position detection box 120, the rotation position detection box 220, and the boom detection unit 300 respectively;

[0060] In this embodiment, the main control unit adopts Siemens S7-1200;

[0061] In this embodiment, the main control unit plays a role of centralized control, and can generate positioning information of the posture of the bucket wheel machine after receiving the pitch angle signal, the travel position signal and the rotation position signal.

[0062] In this embodiment, when the system has only one encoding device in total, it can still complete the encoding of two encoding cables. Take the first encoding device as an example: the first encoding device controls the walking encoding cable 130 to generate a specific magnetic field, and at the same time transmits the signal of controlling the magnetic field to the main control unit through the walking position detection box 120, and the main control unit further transmits it to the rotation position detection box 220. The rotation position detection box 220 uses electromagnetic coupling through the rotating antenna control box 210 to control the rotating encoding cable 230, and then the rotating antenna control box 210 collects the magnetic field generated by the electromagnetic coupling of the rotating encoding cable 230 to determine its own position, and finally realizes the encoding of the two encoding cables through one encoding device.

[0063] The following is a brief description of the operation process of this embodiment:

[0064] When the system starts to run, the first encoding device controls the walking encoding cable 130 to generate a specific magnetic field, and the walking antenna control box 110 senses the magnetic field generated by the walking encoding cable 130 at its location through electromagnetic coupling. The walking antenna control box 110 processes the sensed magnetic field and converts it into an electrical signal, which is then transmitted to the walking position detection box 120, and the walking position detection box 120 further processes it to generate a walking position signal, which is then transmitted to the main control unit;

[0065] At the same time, the second encoding device controls the rotary encoding cable 230 to generate a specific magnetic field, and the rotary antenna control box 210 senses the magnetic field generated by the rotary encoding cable 230 at the location through electromagnetic coupling. The rotary antenna control box 210 processes the sensed magnetic field and converts it into an electrical signal, which is then transmitted to the rotary position detection box 220, and the rotary position detection box 220 further processes it to generate a rotary position signal, which is then transmitted to the main control unit;

[0066] At the same time, the angle sensor or tilt sensor in the boom detection unit 300 also collects the pitch angle signal and transmits it to the main control unit;

[0067] After receiving the pitch angle signal, travel position signal and rotation position signal, the main control unit will generate the final positioning information of the bucket wheel machine's posture.

[0068] The above-mentioned bucket wheel positioning system also includes an expansion interface. In this embodiment, the expansion interface is connected to the main control unit, and the main control unit is used to ultimately realize data interaction and remote control with the outside world, and even realize unmanned operation, or provide the software system with bucket wheel trajectory query and trajectory playback, etc.

[0069] This embodiment can also be applied to the positioning of bucket wheel stacker / reclaimers in strip material yards, gantry stacker / reclaimers, and circular material yard stacker / reclaimers.

[0070] A positioning method using the above bucket wheel machine positioning system includes: (1) acquiring and calculating a travel position signal; (2) acquiring and calculating a rotation position signal; and (3) acquiring a pitch angle signal through an angle sensor.

[0071] The traveling coding cable 130 is composed of an RX transmission reference line and an i+1 pair of GX transmission lines, wherein the i+1 pair of GX transmission lines are GX0, GX1, GX2, ..., GXi respectively; the rotating coding cable 230 is composed of an RH transmission reference line and a j+1 pair of GH transmission lines, wherein the j+1 pair of GH transmission lines are GH0, GH1, GH2, ..., GHj respectively; i and j are determined by the positioning accuracy and positioning distance;

[0072] (1) Obtaining the walking position signal includes the following steps:

[0073] S11, the first tail terminal junction box controls the RX transmission reference line and the i+1 pair of GX transmission pairs to generate magnetic fields respectively;

[0074] S12, the walking antenna control box 110 obtains the electromagnetic signal at the location of the walking antenna control box 110 from the magnetic field generated by the RX transmission reference line and the i+1 pair of GX transmission pairs through electromagnetic coupling;

[0075] S13, the walking antenna control box 110 amplifies the acquired electromagnetic signal and converts it into an electrical signal and transmits it to the walking position detection box 120;

[0076] S14, the walking position detection box 120 compares the electrical signal converted from the RX transmission baseline line and the electrical signal converted from the i+1 pair of GX transmission pairs one by one, and the ones with the same phase are recorded as "0", and the ones with the opposite phase are recorded as "1", and finally a binary string with a length of i+1 is obtained;

[0077] S15. Calculate the current walking position information according to the binary character string and the specific position measurement accuracy information, and generate a final walking position signal.

[0078] (2) Obtaining the rotation position signal includes the following steps:

[0079] S11, the second tail terminal junction box controls the RH transmission reference line and the j+1 pair of GH transmission pairs to generate magnetic fields respectively;

[0080] S12, the slewing antenna control box 210 obtains the electromagnetic signal at the location of the slewing antenna control box 210 from the magnetic field generated by the RH transmission reference line and the j+1 pair of GH transmission lines by electromagnetic coupling;

[0081] S13, the rotary antenna control box 210 amplifies the acquired electromagnetic signal and converts it into an electrical signal and transmits it to the rotary position detection box 220;

[0082] S14, the rotary position detection box 220 compares the electrical signal converted from the RH transmission reference line and the electrical signal converted from the j+1 pair of GH transmission pairs one by one, and records the consistent phase as "0" and the opposite phase as "1", and finally obtains a binary string with a length of j+1;

[0083] S15. Calculate the current rotation position information according to the binary string and the specific position measurement accuracy information, and generate a final rotation position signal.

[0084] In this embodiment, the encoding methods of the traveling encoding cable 130 and the rotating encoding cable 230 are consistent. The following takes the traveling encoding cable 130 as an example to further describe the positioning accuracy in this embodiment:

[0085] The traveling coding cable 130 has an RX transmission reference line and multiple groups of GX transmission reference lines inside, and the multiple groups of transmission pairs are named GX0, GX1, ..., GX10 respectively; assuming that the standard step length of the cable is W, then the step lengths of GX0, GX1, ..., GX10 are 1W, 2W, ..., 1024W respectively, and each transmission pair is twisted in units of its own step length, and the RX transmission reference line does not cross in the entire cable segment; taking GX0 as an example, after twisting, a closed coil with a basic length of W / 2 can be formed, and further encoding is performed by the first encoding device, and a changing magnetic field with a positioning accuracy of W / 40 can be generated within a length of W / 2; see Figure 6 , the vertical line in the figure is the encoding accuracy of the first encoding device, and the length of every 40 vertical lines is one W;

[0086] Then we can simply calculate that the maximum travel distance that can be located in this embodiment with a positioning accuracy of W / 40 is W / 40*(2^11);

[0087] From the above process, it can be seen that the smaller the distance W is, the higher the accuracy will be. However, in actual use, it is also necessary to consider the change of magnetic flux Φ=S*B. When W is smaller, the B value will definitely be smaller, which will further lead to a smaller change in magnetic flux, making it difficult to technically realize the electromagnetic coupling process. In this embodiment, W can be 200mm, that is, the positioning accuracy is 200 / 40mm, that is, 5mm;

[0088] In this embodiment, the specific value of W needs to be selected based on actual needs.

[0089] The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment. As long as the technical solutions for achieving the purpose of the present invention by basically the same means are achieved, they all fall within the protection scope of the present invention.

Claims

1. A positioning method applied to a bucket wheel machine positioning system, Features: The bucket wheel machine positioning system comprises a travel detection system (100), a rotation detection system (200), and a boom detection unit (300); The walking detection system (100) comprises a walking antenna control box (110), a walking position detection box (120), and a walking coding cable (130); the walking coding cable (130) is arranged along the walking direction of the bucket wheel machine; the walking antenna control box (110) runs along the path of the walking coding cable (130); the walking antenna control box (110) is electrically connected to the walking position detection box (120) and is used to obtain a walking position signal of a corresponding position from the walking coding cable (130) by electromagnetic coupling; the walking position detection box (120) is used to receive, process, and transmit the walking position signal obtained by the walking antenna control box (110); The slewing detection system (200) comprises a slewing antenna control box (210), a slewing position detection box (220), and a slewing encoding cable (230); the slewing encoding cable (230) is arranged along the slewing direction of the bucket wheel machine; the slewing antenna control box (210) runs along the path of the slewing encoding cable (230); the slewing antenna control box (210) is electrically connected to the slewing position detection box (220) and is used to obtain a slewing position signal of a corresponding position from the slewing encoding cable (230) by electromagnetic coupling; the slewing position detection box (220) is used to receive, process, and transmit the slewing position signal obtained by the slewing antenna control box (210); The boom detection unit (300) is used to detect and transmit the pitch angle signal of the bucket wheel machine; A first head-end connection box and a first tail-end connection box are provided at both ends of the traveling coding cable (130); a second head-end connection box and a second tail-end connection box are provided at both ends of the rotary coding cable (230); the first head-end connection box and the second head-end connection box are both used for signal access; the first tail-end connection box is used to control the magnetic field emitted by the traveling coding cable (130); and the second tail-end connection box is used to control the magnetic field emitted by the rotary coding cable (230); A first encoding device is also provided in the first tail end connection box, for controlling the traveling encoding cable (130) to emit a regularly changing magnetic field; a second encoding device is also provided in the second tail end connection box, for controlling the rotating encoding cable (230) to emit a regularly changing magnetic field; The walking antenna control box (110) is also used to amplify the walking position signal; the slewing antenna control box (210) is also used to amplify the slewing position signal; The traveling encoding cable (130) is composed of an RX transmission reference line and i+1 pairs of GX transmission lines, wherein the i+1 pairs of GX transmission lines are GX0, GX1, GX2, ..., GXi respectively; the rotating encoding cable (230) is composed of an RH transmission reference line and j+1 pairs of GH transmission lines, wherein the j+1 pairs of GH transmission lines are GH0, GH1, GH2, ..., GHj respectively; The i and j are determined by the positioning accuracy and positioning distance; The positioning method applied to the bucket wheel positioning system comprises: (1) acquiring and calculating a travel position signal; (2) acquiring and calculating a rotation position signal; (3) acquiring a pitch angle signal through an angle sensor; The step of obtaining the walking position signal comprises the following steps: S11, the RX transmission reference line and the i+1 pair of GX transmission pairs generate magnetic fields respectively; S12, the walking antenna control box (110) obtains an electromagnetic signal at the location of the walking antenna control box (110) from the magnetic field generated by the RX transmission reference line and the i+1 pair of GX transmission pairs by electromagnetic coupling; S13, the walking antenna control box (110) amplifies the acquired electromagnetic signal and converts it into an electrical signal and transmits it to the walking position detection box (120); S14, the walking position detection box (120) compares the electrical signal converted from the RX transmission reference line and the electrical signal converted from the i+1 pair of GX transmission pairs one by one, and records the consistent phases as "0" and the opposite phases as "1", and finally obtains a binary string with a length of i+1; S15, calculating the current walking position information according to the binary string and the specific position measurement accuracy information, and generating a final walking position signal; The acquisition of the rotation position signal comprises the following steps: S11, the RH transmission baseline and j+1 pairs of GH transmission lines generate magnetic fields respectively; S12, the slewing antenna control box (210) acquires an electromagnetic signal at a location of the slewing antenna control box (210) from the magnetic field generated by the RH transmission reference line and the j+1 pair of GH transmission lines by electromagnetic coupling; S13, the slewing antenna control box (210) amplifies the acquired electromagnetic signal and converts it into an electrical signal, which is then transmitted to the slewing position detection box (220); S14, the rotary position detection box (220) compares the electrical signal converted from the RH transmission reference line and the electrical signal converted from the j+1 pair of GH transmission lines one by one, and records the consistent phases as "0" and the opposite phases as "1", and finally obtains a binary string with a length of j+1; S15. Calculate the current rotation position information according to the binary string and the specific position measurement accuracy information, and generate a final rotation position signal.

2. A positioning method for a bucket wheel machine positioning system according to claim 1, Features: The walking position detection box (120) comprises a walking address detector (121) and a ground communicator (122); the walking address detector (121) has an input end electrically connected to the walking antenna control box (110), and an output end electrically connected to the ground communicator (122).

3. A positioning method for a bucket wheel excavator positioning system according to claim 1, Features: The rotation position detection box (220) comprises a rotation address detector (221) and an on-board communicator (222); the input end of the rotation address detector (221) is electrically connected to the rotation antenna control box (210), and the output end is electrically connected to the on-board communicator (222).

4. A positioning method for a bucket wheel machine positioning system according to claim 1, Features: The walking antenna control box (110) is also used to control the walking encoding cable (130) by means of electromagnetic coupling; the rotating antenna control box (210) is also used to control the rotating encoding cable (230) by means of electromagnetic coupling.

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