An Indirect GPS Positioning Method for the Grab of a Coal Yard Bucket Wheel Stacker Reclaimer

Abstract

The present invention discloses a GPS indirect positioning method for the grab of a coal yard bucket wheel stacker / reclaimer, which includes: selecting a first reference point and a second reference point on the same running track of the bucket wheel stacker / reclaimer, and taking the track distance as the first reference distance; sequentially selecting a third reference point on the bucket wheel stacker / reclaimer, a fourth reference point on the grab, and a fifth reference point of the GPS positioning device arranged on the boom of the bucket wheel stacker / reclaimer; respectively measuring the distance between the third reference point and the fifth reference point as the second reference distance and the distance between the fourth reference point and the fifth reference point as the third reference distance; obtaining the coordinate information of the fifth reference point in real time, and obtaining the coordinate information of the fourth reference point according to the coordinate information. During the operation stage of the bucket wheel stacker / reclaimer, the present invention can obtain the current longitude and latitude coordinates of the point in real time through the GPS positioning device arranged on the boom of the bucket wheel stacker / reclaimer, and can obtain the working longitude and latitude coordinates of the point where the target grab is located in real time according to the geometric principle. The cost is low, and relatively accurate position information can be obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining, and particularly to a GPS indirect positioning method for the grab of a coal yard bucket wheel stacker. Background Art

[0002] At present, using GPS to accurately position the bucket wheel stacker in coal yard and coal mine management has very practical significance (Chen Hongling, Application of GPS in Coal Mine Surveying, Shandong Coal Science & Technology, 2011, 4, 25 - 26). Usually, the antenna can be directly placed at the target position to be located (Wu Shunzhong, Application of GPS in the Acceptance Survey of Small Coal Mines, New Technologies and New Products in China, 2010, 5, 94). However, for coal yards with high requirements for positioning accuracy, especially those with strict coal quality zoning or even stratification, simply positioning the large bucket wheel stacker obviously has no practical significance. In engineering, it is required to accurately position the grab of the bucket wheel stacker so as to accurately know the coal area where the bucket wheel stacker is currently working.

[0003] However, directly installing a GPS device on the grab faces the problem of being restricted by the actual environment. This is because when the grab works, it needs to deeply contact the coal pile and is accompanied by intense mechanical vibration and rotation, making it difficult to install an antenna on the grab. If the satellite antenna is forcibly installed on the grab for precise positioning, not only will it obtain incorrect position information due to signal occlusion, but in the long run, it will inevitably damage the antenna, and even completely unable to use GPS, and the maintenance and replacement costs are relatively high.

[0004] To solve this problem, the current conventional treatment method is to place the antenna on the bucket wheel arm close to the grab. For projects with lower requirements for accuracy, the antenna position is approximately regarded as the position of the grab; for projects with higher requirements for accuracy, an attempt is made to indirectly calculate the grab position coordinates by obtaining the deflection angle of the bucket wheel arm (Liu Dajie, GPS Measurement Principle and Its Data Processing Foundation [M]. Shanghai: Tongji University Press, 1996.).

[0005] However, it is difficult to obtain the deflection angle of the bucket wheel swing arm. Installing specific measuring equipment will increase costs and is unstable. Generally, in engineering, a constant value is set for the deflection angle according to the actual situation. Although the error is reduced to a certain extent, considering that the actual deflection range of the bucket wheel arm is -90° to 90°, fixing it to one or two values cannot achieve a satisfactory effect.

[0006] Therefore, there is an urgent need for a GPS indirect positioning method for the grab of a coal yard bucket wheel stacker. Summary of the Invention

[0007] In order to overcome the deficiencies of related products in the prior art, the present invention proposes a GPS indirect positioning method for the grab of a coal yard bucket wheel stacker.

[0008] The present invention provides a GPS indirect positioning method for the grab of a coal yard bucket wheel machine, including the following steps:

[0009] Step a: Select a first reference point and a second reference point on the same running track of the bucket wheel machine, and measure the distance between the first reference point and the second reference point, taking this track distance as the first reference distance;

[0010] Step b: Sequentially select a third reference point on the bucket wheel machine, a fourth reference point on the grab, and a fifth reference point of the GPS positioning device arranged on the swing arm of the bucket wheel machine;

[0011] Step c: Respectively measure the distance between the third reference point and the fifth reference point as the second reference distance and the distance between the fourth reference point and the fifth reference point as the third reference distance;

[0012] Step d: Real-time obtain the coordinate information of the fifth reference point, and obtain the coordinate information of the fourth reference point according to this coordinate information.

[0013] In some embodiments of the present invention, the step d of real-time obtaining the coordinate information of the fifth reference point and obtaining the coordinate information of the fourth reference point according to this coordinate information specifically includes:

[0014] According to the coordinate information of the fifth reference point, obtain the vertical height from the fifth reference point to the running track of the bucket wheel machine, and intersect with the running track of the bucket wheel machine at a sixth reference point.

[0015] In some embodiments of the present invention, the step d further includes: Taking the fifth reference point as the center and the second reference distance as the radius to draw a circle, then this circle intersects with the running track of the bucket wheel machine at the third reference point.

[0016] In some embodiments of the present invention, the step d further includes: Obtain the coordinate information of the first reference point and the second reference point, and calculate and obtain the distance between the first reference point and the fifth reference point as the fourth reference distance.

[0017] In some embodiments of the present invention, the step d further includes: Calculate the fifth reference distance between the first reference point and the sixth reference point according to the vertical height.

[0018] In some embodiments of the present invention, the step d further includes: Calculate the sixth reference distance between the third reference point and the sixth reference point according to the second reference distance and the vertical height.

[0019] In certain embodiments of the present invention, step d further includes: calculating the seventh reference distance between the first reference point and the third reference point according to the fifth reference distance and the sixth reference distance, so as to obtain the coordinate information of the third reference point;

[0020] In certain embodiments of the present invention, step d further includes: calculating and obtaining the coordinate information of the fourth reference point, i.e., the coordinate information of the grab, according to the coordinate information of the third reference point and the fifth reference point.

[0021] In certain embodiments of the present invention, the manner of obtaining the positions of each fixed reference point includes a global positioning system such as GPS, Beidou, Galileo or GLONASS.

[0022] In certain embodiments of the present invention, the first reference point and the second reference point are two reference positions on the operating track where the bucket wheel machine is located, specifically any two recognizable positions at two ends or in the middle of the two ends on the operating track.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] In the operation stage of the bucket wheel machine in the GPS indirect positioning method for the grab of the coal yard bucket wheel machine according to the embodiment of the present invention, the current longitude and latitude coordinates of the point are obtained in real time through the GPS positioning device arranged on the swing arm of the bucket wheel machine, and the operation longitude and latitude coordinates of the target grab point can be obtained in real time according to the geometric principle. The cost is low, and relatively accurate position information can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic diagram of the positions of each reference point in the GPS indirect positioning method for the grab of the coal yard bucket wheel machine described in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all of the embodiments. The drawings in the embodiments give preferred embodiments of the present invention. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0028] Refer to Figure 1 As shown, it is a schematic diagram of the positions of each reference point in the GPS indirect positioning method of the grab of the coal yard bucket wheel machine of the present invention. The GPS indirect positioning method of the grab of the coal yard bucket wheel machine includes the following steps:

[0029] Step a: Select the first reference point E and the second reference point F on the same running track of the bucket wheel machine, and measure the distance between the first reference point E and the second reference point F. Take this track distance as the first reference distance d EF ;

[0030] Step b: Sequentially select the third reference point A on the bucket wheel machine, the fourth reference point C on the grab, and the fifth reference point B of the GPS positioning device arranged on the swing arm of the bucket wheel machine;

[0031] Step c: Measure the distance between the third reference point A and the fifth reference point B respectively as the second reference distance d AB and the distance between the fourth reference point C and the fifth reference point B as the third reference distance d BC ;

[0032] Step d: Real-time obtain the coordinate information of the fifth reference point B, and obtain the coordinate information of the fourth reference point C according to this coordinate information.

[0033] Since the track where the bucket wheel machine is located is two parallel straight lines, in the embodiment of the present invention, the middle position of the two parallel straight lines is used as the running track of the bucket wheel machine. The first reference point E and the second reference point F are two reference positions on the running track where the bucket wheel machine is located, which can be two ends on the running track, or any two recognizable positions in the middle of the two ends. The movement stroke of the bucket wheel machine is within the range of these two reference positions.

[0034] The positions of the third reference point A, the fourth reference point C, and the fifth reference point can be adjusted according to actual needs, as long as the third reference point A, the fourth reference point C, and the fifth reference point B are located on the same straight line.

[0035] In the embodiment of the present invention, in step d, real-time obtain the coordinate information of the fifth reference point B, and obtain the coordinate information of the fourth reference point C according to this coordinate information specifically includes:

[0036] According to the coordinate information of the fifth reference point B, obtain the vertical height d from the fifth reference point B to the running track of the bucket wheel machine BD , and intersect with the running track of the bucket wheel machine at the sixth reference point D;

[0037] Taking the fifth reference point B as the center and the second reference distance d ABTaking a circle with the radius, the circle intersects the traveling track of the bucket wheel reclaimer at the third reference point A;

[0038] Obtain the coordinate information of the first reference point and the second reference point, calculate and obtain the distance between the first reference point E and the fifth reference point B as the fourth reference distance d BE , and according to the vertical height d BD Calculate the fifth reference distance d between the first reference point E and the sixth reference point D ED ;

[0039] According to the second reference distance d AB And the vertical height d BD Calculate the sixth reference distance d between the third reference point A and the sixth reference point D AD ;

[0040] According to the fifth reference distance d ED And the sixth reference distance d AD Calculate to obtain the seventh reference distance d between the first reference point E and the third reference point A EA , that is, d ED Is the sum of d A And d EA . Since points E, A, and F are on the same straight line, according to the longitude and latitude coordinates of point E, the longitude and latitude coordinates of point F, and the distance d between point E and point F EF , the distance d from point E to point A EA , based on the triangle similarity theorem, the coordinate information of the third reference point A is obtained;

[0041] Since points A, B, and C are on the same straight line, calculate and obtain the coordinate information of the fourth reference point C, that is, the coordinate information of the grab bucket, according to the coordinate information of the third reference point A and the fifth reference point B.

[0042] Of course, it should be noted that in other embodiments of the present invention, the method for obtaining the positions of each fixed reference point is not limited to GPS, and it can also be through the Beidou, Galileo, GLONASS and other equivalent global positioning systems, and the present invention has no limitation on this.

[0043] In the operation stage of the bucket wheel reclaimer of the GPS indirect positioning method according to the embodiment of the present invention, point B will move accordingly, and the GPS positioning device on point B obtains the current longitude and latitude coordinates of point B in real time. According to the geometric principle, the working longitude and latitude coordinates of the target grab bucket at point C can be obtained in real time. Compared with the prior art, the present invention has the following advantages:

[0044] 1. Make full use of the site characteristics of the coal yard, that is, the special feature that the traveling track of the bucket wheel reclaimer is along a fixed traveling track. By obtaining the fixed values of the track and using mathematical calculation methods, the accurate coordinate values of the real-time movement of the grab bucket of the bucket wheel reclaimer are obtained.

[0045] 2. Precise positioning of the coal yard bucket wheel stacker-reclaimer through the present invention has the advantages of simple installation and implementation, fewer equipment used, and accurate data obtained. During implementation, there is no need to add other additional measuring equipment. Only the coordinate values of the fixed points need to be obtained through measurement in advance, and only one GPS needs to be installed to obtain the real-time coordinates of the grab target position, saving the implementation cost. Moreover, for the installation position of the GPS antenna, only one installation position needs to be selected on the swing arm of the bucket wheel stacker-reclaimer according to the actual situation, without the need to be infinitely close to the grab of the bucket wheel stacker-reclaimer, avoiding damage to the GPS antenna when the grab of the bucket wheel stacker-reclaimer is working.

[0046] 3. In the harsh production environment of the coal yard, the installation and use of precise instruments such as measuring equipment will be restricted to a certain extent, thus affecting the accuracy and stability of the general conventional bucket wheel stacker-reclaimer precise positioning system. Through the use of the method of the present invention, since only one GPS device needs to be installed to obtain the precise positioning value, the investment in measuring equipment is reduced, the equipment failure points are reduced, and the stability of the entire system is improved, bringing convenience to the project implementation in the complex environment of the coal yard.

[0047] 4. The present invention breaks through the difficult problem of obtaining the deflection angle of the swing arm of the bucket wheel stacker-reclaimer in the past traditional methods, and obtains very precise real-time coordinate values of the grab of the bucket wheel stacker-reclaimer without the need to invest any measuring equipment.

[0048] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. The above are only embodiments of the present invention, but do not limit the patent scope of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. Any equivalent structures directly or indirectly using the content of the specification and drawings of the present invention in other related technical fields are equally within the scope of the patent protection of the present invention.

Claims

1. A GPS indirect positioning method for the grab of a coal yard bucket wheel machine, characterized in that, It includes the following steps: Step a: Select a first reference point and a second reference point on the same operating track of the bucket wheel stacker, and measure the distance between the first reference point and the second reference point, and use this track distance as the first reference distance; Step b: Sequentially select a third reference point on the bucket wheel stacker, a fourth reference point on the grab, and a fifth reference point of the GPS positioning device provided on the swing arm of the bucket wheel stacker; Step c: Measure the distance between the third reference point and the fifth reference point as the second reference distance and the distance between the fourth reference point and the fifth reference point as the third reference distance respectively; Step d: Real-time obtain the coordinate information of the fifth reference point, and obtain the coordinate information of the fourth reference point according to this coordinate information; The real-time obtaining of the coordinate information of the fifth reference point and obtaining the coordinate information of the fourth reference point according to this coordinate information in step d specifically includes: According to the coordinate information of the fifth reference point, obtain the vertical height from the fifth reference point to the operating track of the bucket wheel stacker, and intersect with the operating track of the bucket wheel stacker at a sixth reference point; Step d further includes: Taking the fifth reference point as the center and the second reference distance as the radius to draw a circle, then this circle intersects with the operating track of the bucket wheel stacker at the third reference point; Step d further includes: Obtain the coordinate information of the first reference point and the second reference point, calculate and obtain the distance between the first reference point and the fifth reference point as the fourth reference distance; Step d further includes: Calculate the fifth reference distance between the first reference point and the sixth reference point according to the vertical height; Step d further includes: Calculate the sixth reference distance between the third reference point and the sixth reference point according to the second reference distance and the vertical height; Step d further includes: Calculate to obtain the seventh reference distance between the first reference point and the third reference point according to the fifth reference distance and the sixth reference distance, so as to obtain the coordinate information of the third reference point; Step d further includes: Calculate and obtain the coordinate information of the fourth reference point, that is, the coordinate information of the grab, according to the coordinate information of the third reference point and the fifth reference point.

2. The GPS indirect positioning method for the grab of the coal yard bucket wheel machine according to claim 1, characterized in that, The method for obtaining the positions of each fixed reference point includes global positioning systems such as GPS, Beidou, Galileo or GLONASS.

3. The GPS indirect positioning method for the grab of the coal yard bucket wheel machine according to claim 1, characterized in that, The first reference point and the second reference point are two reference positions on the operating track where the bucket wheel stacker is located, specifically any two recognizable positions at the two ends or in the middle between the two ends of the operating track.

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