An unmanned crane uses Beidou satellite high-precision positioning detection system

Abstract

The present invention belongs to the technical field of unmanned cranes, and discloses an unmanned crane adopting a Beidou satellite high-precision positioning detection system, comprising a processor, a controller, a Beidou satellite signal receiving board, at least three Beidou satellite antennas and a supporting assembly, and the supporting assembly comprises a cross frame, and a mobile basket is connected to the cross frame, and a lifting assembly is connected to one side of the mobile basket, wherein the Beidou satellite antenna is respectively fixedly connected to both ends of the cross frame distributed along the length and the lifting assembly, and through the mutual cooperation between the arranged counterweight assembly and the lifting assembly, while the counterweight assembly is used to stabilize the unloaded lifting assembly, the position of the counterweight block in the counterweight assembly can be changed when the lifting assembly is lifting the cargo, thereby suppressing the inclination angle of the cable and the lifting assembly when lifting the cargo, and ensuring the safety of the crane.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned cranes, and in particular is an unmanned crane that adopts a Beidou satellite high-precision positioning detection system. Background Art

[0002] The Beidou satellite navigation system consists of three parts: the space segment, the ground segment and the user segment. It can provide high-precision, high-reliability positioning, navigation and timing services to all types of users around the world around the clock, and has short message communication capabilities. It has preliminary regional navigation, positioning and timing capabilities, with positioning accuracy at the decimeter and centimeter level, speed measurement accuracy of 0.2 meters per second, and timing accuracy of ten nanoseconds.

[0003] The patent with publication number CN209507434U discloses a gantry crane deflection detection device based on satellite positioning. In view of the problem that the existing crane deflection detection device has low detection efficiency, the following scheme is proposed, which includes a crane body, the inner wall at the bottom of the crane body is provided with a hook body, the inner wall on one side of the crane body is provided with a vertically arranged installation groove, the inner wall at the bottom of the installation groove is welded with a vertically arranged driving motor, the output end of the driving motor is connected to a vertically arranged threaded rod, and the end of the threaded rod away from the driving motor is rotatably connected to the inner wall of the installation groove. Although the above scheme has a reasonable structure and can simply and quickly detect the deflection of the crane, it cannot recognize the movement state of the cargo during the lifting process.

[0004] At the same time, during the hoisting process of the crane, the existing crane has a single lifting method and cannot fully meet the hoisting requirements of the goods. In addition, during the hoisting process, in order to save hoisting time, the cross frame needs to be controlled to move after the goods are hoisted off the ground. As a result, the resistance will cause an angle between the goods in the air and the cross frame, which affects the safety of the crane and increases the risk of goods falling. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems. The present invention provides an unmanned crane adopting a Beidou satellite high-precision positioning and detection system, which has the advantages of accurate lifting and high lifting safety factor.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned crane adopts a Beidou satellite high-precision positioning detection system, comprising a processor, a controller, a Beidou satellite signal receiving board, at least three Beidou satellite antennas and a supporting assembly, wherein the supporting assembly comprises a cross frame, and a mobile basket is connected to the cross frame, and a hoisting assembly is connected to one side of the mobile basket, wherein the Beidou satellite antennas are respectively fixedly connected to the two ends of the cross frame distributed along the length and the hoisting assembly, the signal output end of each of the Beidou satellite antennas is connected to the signal input end of the Beidou satellite signal receiving board, the signal output end of the Beidou satellite signal receiving board is connected to the signal input end of the processor, and the signal output end of the processor is connected to the signal input end of the controller;

[0007] The mobile basket comprises a bottom plate, a power assembly is connected to the bottom plate, a cable is connected to the power assembly, and the extension direction of the cable passes through the bottom plate, a counterweight assembly is fixedly provided at one end of the cable, a rotating assembly is connected to one end of the counterweight assembly away from the cable, and the rotating assembly is connected to the hoisting assembly;

[0008] The counterweight assembly comprises a counterweight box, a cavity is formed in the counterweight box, a plurality of counterweight blocks are movably arranged in the cavity, and the counterweight blocks are composed of electromagnetic blocks;

[0009] The hoisting assembly includes a moving plate and a connecting plate, the moving plate and the connecting plate can contact each other, and clamping plates are movably provided on the moving plate and the connecting plate respectively, and the moving plate and the connecting plate are slidably connected to the rotating assembly.

[0010] Preferably, the support assembly further comprises two support legs, both of which are fixedly connected to the cross frame, and the support legs can drive the cross frame to move, and the movable basket is located between the two support legs.

[0011] Preferably, the mobile basket further comprises an enclosure, wherein the enclosure is fixedly connected to the base plate, the enclosure surrounds the power assembly, and a moving wheel is connected to one end of the base plate away from the enclosure, and the moving wheel is rollingly connected to the cross frame.

[0012] Preferably, the power assembly comprises a winding column, the cable is wound around the winding column, and a motor is connected to one end of the winding column along the length direction.

[0013] Preferably, a hook is connected to the connecting plate, and the hook is located between the two clamping plates.

[0014] Preferably, rotating columns are rotatably provided in the movable plate and the connecting plate, connecting ropes are wound around the two rotating columns, and the connecting ropes are connected to each other.

[0015] Preferably, the two rotating columns are respectively connected to the moving plate and the connecting plate through torsion springs.

[0016] Preferably, the length of the hook is the same as that of the clamping plate, and the clamping plate can penetrate the movable plate and the connecting plate when movable.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Through the cooperation between the counterweight assembly and the lifting assembly, the counterweight assembly can be used to stabilize the unloaded lifting assembly. At the same time, when the lifting assembly is lifting the goods, the position of the counterweight block in the counterweight assembly can be changed, thereby suppressing the inclination angle of the cable and the lifting assembly when lifting the goods, ensuring the safety of the crane. At the same time, when the hook is used for lifting, after the counterweight assembly suppresses the inclination angle of the cable, it can also change the position of the clamping plate to ensure that the gravitational potential energy of the clamping plate on the lifting assembly is adjusted, so that the clamping plate can cooperate with the counterweight assembly to ensure the safety of the goods when they are moved and the safety of the crane when in use.

[0019] 2. By uploading the position of the crane when in use and the corresponding working status to the Beidou satellite signal receiving board through the Beidou satellite antenna, the controller is controlled according to the signal recognized by the processor to realize the regulation of the state of the crane. At the same time, the Beidou satellite antenna is fixedly connected to the cross frame and the lifting component respectively. The Beidou satellite antenna can be used to identify the position of the cross frame. At the same time, when the lifting component is hoisted, the movement of the lifting component can be identified to ensure the positioning accuracy of the unmanned crane when in use, and ensure stability and safety during use.

[0020] 3. Through the mutual cooperation between the rotating assembly, the movable plate and the connecting plate, when the clamping plate or the hook is hoisting the goods, the angles of the movable plate and the connecting plate can be adjusted in time through the rotating assembly according to the state and angle of the goods, so as to achieve the angle adjustment of the clamping plate and the hook, and when the clamping plate is coordinated with the counterweight assembly to reduce the inclination angle of the cable, the distribution direction of the clamping plate can be adjusted through the rotating assembly so that the movement of the clamping plate can meet the purpose of adjusting the center of gravity of the hoisting assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the lifting sling of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the gantry crane support assembly of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the lifting device of the present invention in another direction;

[0024] Figure 4 It is a schematic diagram of the connection structure of the hoisting assembly of the present invention;

[0025] Figure 5 It is a schematic cross-sectional structure diagram of the counterweight assembly of the present invention;

[0026] Figure 6 for Figure 5 A schematic diagram of the enlarged structure of part A;

[0027] Figure 7 for Figure 5 Schematic diagram of the motion structure.

[0028] Description of the drawings: 1. Support assembly; 101. Cross frame; 102. Support legs; 2. Mobile basket; 201. Bottom plate; 202. Enclosure; 203. Mobile wheels; 3. Power assembly; 301. Winding column; 302. Motor; 4. Cable; 5. Counterweight assembly; 501. Counterweight box; 502. Cavity; 503. Counterweight block; 6. Rotating assembly; 7. Lifting assembly; 701. Mobile plate; 7011. Rotating column; 7012. Connecting rope; 702. Connecting plate; 703. Clamping plate; 704. Hook. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figure 1-Figure 7As shown, an unmanned crane adopts a Beidou satellite high-precision positioning detection system, including a processor, a controller, a Beidou satellite signal receiving board, at least three Beidou satellite antennas and a support assembly 1, and the support assembly 1 includes a cross frame 101, and a mobile basket 2 is connected to the cross frame 101, and a hoisting assembly 7 is connected to one side of the mobile basket 2, wherein the Beidou satellite antennas are respectively fixedly connected to the two ends of the cross frame 101 distributed along the length and the hoisting assembly 7, the signal output end of each Beidou satellite antenna is connected to the signal input end of the Beidou satellite signal receiving board, the signal output end of the Beidou satellite signal receiving board is connected to the signal input end of the processor, and the signal output end of the processor is connected to the signal input end of the controller, so that the processor, the controller, and the Beidou satellite The star signal receiving board and at least three Beidou satellite antennas cooperate with each other to complete the high-precision positioning detection used by the unmanned crane. The position of the crane when in use and the corresponding working status are uploaded to the Beidou satellite signal receiving board through the Beidou satellite antenna, so that the controller is controlled according to the signal recognized by the processor to realize the regulation of the state of the crane. At the same time, the Beidou satellite antenna is fixedly connected to the cross frame 101 and the lifting component 7 respectively, and the Beidou satellite antenna can be used to identify the position of the cross frame 101. At the same time, when the lifting component 7 is hoisted, the movement of the lifting component 7 can be identified, thereby ensuring the positioning accuracy of the unmanned crane when in use and ensuring stability and safety during use.

[0031] The mobile basket 2 includes a bottom plate 201 for bearing and supporting, a power assembly 3 is connected to the bottom plate 201, a cable 4 is connected to the power assembly 3, the rotation length of the cable 4 is adjusted by the power assembly 3, and the extension direction of the cable 4 passes through the bottom plate 201, ensuring that the bottom plate 201 does not interfere with the use of the cable 4, and a counterweight assembly 5 is fixedly provided at one end of the cable 4 away from the winding column 301, and the counterweight assembly 5 is used to correct the position of the lifting assembly 7, reduce the deflection angle of the lifting assembly 7 during the lifting process, improve the accuracy of the lifting assembly 7 during the lifting process, and also ensure the safety of the lifting process, the counterweight assembly 5 is connected to the end away from the cable 4 A rotating assembly 6 is provided, and the lifting angle of the lifting assembly 7 is adjusted by the rotating assembly 6, so that the lifting assembly 7 will not be unable to be lifted due to angle problems. The rotating assembly 6 is connected to the lifting assembly 7, that is, the elongation state of the cable 4 is adjusted by the power assembly 3, so as to change the height of the counterweight assembly 5 and the lifting assembly 7. In addition, when the supporting leg 102 or the movable basket 2 moves during the lifting process of the lifting assembly 7, the cable 4 will swing and have a corresponding inclination angle under the action of gravity and inertia, which will affect the safety during the lifting process, and then the counterweight assembly 5 is used to adjust the offset angle of the cable 4.

[0032] The counterweight assembly 5 includes a counterweight box 501, a cavity 502 is provided in the counterweight box 501, and a plurality of counterweight blocks 503 are movably provided in the cavity 502, and the counterweight blocks 503 are composed of electromagnetic blocks. When the crane is not working or the cable 4 is in a vertical state, the counterweight blocks 503 are evenly distributed in the cavity 502, ensuring that the center of gravity position of the counterweight box 501 and the center of gravity position of the lifting assembly 7 are in the same straight line in space. At the same time, in order to facilitate the distribution of the counterweight blocks 503 in the cavity 502, an electromagnetic block is arranged on the inner wall of the cavity 502, so that the counterweight blocks 503 are adsorbed on the cavity 502, thereby achieving force balance. When the position of the counterweight blocks 503 needs to be adjusted, it is only necessary to change the magnetic direction and size of the counterweight blocks 503 to adjust the position of the counterweight blocks 503, thereby improving the adjustment rate of the counterweight assembly 5.

[0033] Furthermore, the counterweight function of the counterweight assembly 5 is utilized to increase the stability of the hoisting assembly 7 when the cargo is not hoisted and is moving, thereby reducing the swing amplitude of the hoisting assembly 7.

[0034] In order to realize the clamping of goods in various states, the lifting assembly 7 includes a moving plate 701 and a connecting plate 702. The moving plate 701 and the connecting plate 702 can conflict with each other. When the moving plate 701 and the connecting plate 702 conflict with each other, it is the minimum clamping size of the clamping plate 703, and the moving plate 701 and the connecting plate 702 are respectively provided with clamping plates 703, wherein the two clamping plates 703 are parallel to each other and can work independently of each other. At the same time, the weight of the clamping plates 703 itself cannot be ignored when in use, that is, the clamping plates 703 can not only realize the clamping of goods, but also can realize the clamping of goods without When the clamping plate 703 is required for clamping, the position change of the clamping plate 703 can also be used to adjust the deflection angle of the lifting component 7, and the movable plate 701 and the connecting plate 702 are slidably connected to the rotating component 6, that is, the movable plate 701 and the connecting plate 702 can slide on the rotating component 6, so as to adjust the distance between the two clamping plates 703, so as to adapt to the clamping of goods of different sizes, and the movable plate 701 and the connecting plate 702 do not separate from the rotating component 6 during the sliding process, and the moving distance between the two clamping plates 703 can meet the needs of clamping goods.

[0035] Specifically, the support assembly 1 also includes two support legs 102, both of which are fixedly connected to the cross frame 101, and the support legs 102 can drive the cross frame 101 to move. The mobile basket 2 is located between the two support legs 102, and the movement of the cross frame 101 is driven by the movement of the support legs 102, ensuring that the unmanned crane can meet a larger range of movement.

[0036] Specifically, the mobile basket 2 also includes an enclosure 202, which is fixedly connected to the base plate 201, and the enclosure 202 surrounds the power assembly 3. The end of the base plate 201 away from the enclosure 202 is connected with a moving wheel 203, and the moving wheel 203 is rollingly connected to the cross frame 101. The moving basket 2 is driven to move on the cross frame 101 by the moving wheel 203. At the same time, the enclosure 202 is set to ensure that the mobile basket 2 can meet the safety of the maintenance personnel when it is being repaired.

[0037] Specifically, the power component 3 includes a winding column 301, the cable 4 is wound around the winding column 301, and a motor 302 is connected to one end of the winding column 301 along the length direction. The motor 302 drives the winding column 301 to rotate, and the cable 4 on the winding column 301 is wound or released, thereby realizing the length adjustment of the cable 4, so as to meet the adjustment of the lifting length of the lifting component 7.

[0038] Specifically, a hook 704 is connected to the connecting plate 702, and the hook 704 is located between the two clamping plates 703. Through the set hook 704 and the clamping plates 703, two lifting methods for the goods are realized. Different lifting methods are selected according to the actual state of the goods, thereby improving the unmanned crane to cope with different goods and to achieve normal lifting of the goods.

[0039] It should be noted that the hook 704 can be flipped on the connecting plate 702, so that when the clamping plate 703 clamps the goods, the hook 704 will not interfere with the lifting process of the clamping plate 703, ensuring the normal lifting.

[0040] Specifically, in order to ensure that the moving distance between the moving plate 701 and the connecting plate 702 can be identified and the moving speed can be increased when the moving plate 701 and the connecting plate 702 are docked, a storage cavity is provided in the moving plate 701 and the connecting plate 702, and a rotating column 7011 is rotatably provided in the storage cavity. The two rotating columns 7011 are respectively connected to the moving plate 701 and the connecting plate 702 through a torsion spring, and a connecting rope 7012 is wound around the two rotating columns 7011, and the connecting ropes 7012 are connected to each other. When the moving plate 701 and the connecting plate 70 2 are in a state of mutual conflict, at this time the torsion spring is in a normal state, and the connecting rope 7012 is also wound around the rotating column 7011. When the moving plate 701 and the connecting plate 702 move away from each other, the length of the connecting rope 7012 is extended, and at the same time the rotating column 7011 is driven to rotate, thereby driving the torsion spring to twist, thereby increasing the distance between the two clamping plates 703. At the same time, when the moving plate 701 and the connecting plate 702 move toward one end close to each other, the torsion spring is reset to rewind the connecting rope 7012 onto the rotating column 7011.

[0041] In order to improve the lifting efficiency of the lifting component 7 during use without affecting the lifting efficiency due to the short length of the clamping plate 703, specifically, the length of the hook 704 is made the same as the length of the clamping plate 703, and the clamping plate 703 can penetrate the movable plate 701 and the connecting plate 702 when it moves, that is, the working length of the clamping plate 703 can be adjusted according to different usage functions, so as to achieve full use of the clamping plate 703.

[0042] At the same time, in order to identify the type of goods hoisted by the unmanned crane, a camera is set on the support component 1, and the type of goods to be hoisted is identified by the camera. The identification result is uploaded and the controller controls the hoisting component 7 to select a suitable hoisting method.

[0043] When working, first, the high-precision positioning detection used by the unmanned crane is completed through the cooperation between the processor, controller, Beidou satellite signal receiving board, and Beidou satellite antenna. The position of the crane when in use and the corresponding working status are uploaded to the Beidou satellite signal receiving board through the Beidou satellite antenna, so as to control the controller according to the signal recognized by the processor to realize the regulation of the state of the crane, control the support component 1 to move, so that the lifting component 7 is located at the object to be lifted, and wait for the controller to control the lifting component 7 to perform lifting processing.

[0044] When the camera detects that the cargo needs to be lifted normally, the controller controls the clamping plate 703 to move to the side close to the movable basket 2, so that the hook 704 will not be disturbed when in use. At the same time, during the movement of the clamping plate 703, the motor 302 is controlled to drive the winding column 301 to rotate, thereby driving the cable 4 to extend, so that the hook 704 moves to the side close to the cargo, and finally uses the hook 704 to fix the cargo. After the cargo is fixed, the cable 4 is controlled to wind, driving the cargo to be lifted, and finally completing the movement of the cargo.

[0045] When the camera detects that the goods need to be clamped and hoisted, the controller controls the hook 704 to rotate so that the hook 704 is parallel to the connecting plate 702, thereby not affecting the clamping of the goods by the clamping plate 703. At the same time, the movable plate 701 and the connecting plate 702 are controlled to move toward the end away from each other, and the clamping plate 703 is controlled to be located on the side away from the movable basket 2. At the same time, the clamping plate 703 is moved to the side close to the goods, so that the goods are located between the two clamping plates 703, and then the two clamping plates 703 are controlled to move to the side close to the goods, thereby completing the clamping of the goods, and finally realizing the lifting and movement of the goods.

[0046] However, in the process of lifting the goods by the crane, in order to reduce the time that the goods are in the air, it is usually necessary to move the mobile basket 2 and the support assembly 1 during the lifting of the goods, so as to realize the rapid lifting of the goods. However, since the goods are subject to wind resistance when moving in the air, the cable 4 and the lifting assembly 7 are in an inclined state, and finally affect the working stability of the entire crane. In the process of the crane using the clamping plate 703 to lift the goods, the horizontal distance between the position of the Beidou satellite antenna on the lifting assembly 7 and the position of the Beidou antenna on the cross frame 101 is used as the judgment standard, so as to complete the angle recognition of the cable 4 and the lifting assembly 7, and then control the state of the counterweight assembly 5 to reduce the angle between the cable 4 and the lifting assembly 7 and the cross frame 101.

[0047] When the Beidou satellite antenna is located far away, it means that the inclination angle between the cable 4, the lifting assembly 7 and the cross frame 101 is large. According to common sense, the inclination direction of the cable 4 is opposite to the moving direction of the support assembly 1 and the mobile basket 2. Therefore, in this scheme, the direction of the inclination is not specifically explained, and the counterweight block 503 in the counterweight box 501 is in the same direction as the moving direction of the support assembly 1 and the mobile basket 2 during counterweight compensation, thereby achieving the purpose of reducing the inclination angle of the cable 4 and the lifting assembly 7.

[0048] Furthermore, when the clamping plate 703 is used to clamp the cargo, when the inclination angle of the lifting assembly 7 is small according to the position of the Beidou satellite antenna, the counterweight block 503 is controlled by the controller to move, so that the counterweight block 503 on one side moves toward the side close to the moving direction of the support assembly 1 and the mobile basket 2, thereby increasing the weight on one side of the counterweight box 501, thereby achieving the effect of suppressing the inclination angle of the cable 4 and improving the stability of the support assembly 1.

[0049] When the cargo is clamped using the clamping plate 703, when the inclination angle of the lifting assembly 7 is large according to the position recognition of the Beidou satellite antenna, the electromagnetic direction of the counterweight block 503 and the cavity 502 is changed at this time, so that the counterweight block 503 and the counterweight block 503 on the side of the moving direction attract each other, thereby concentrating the weight of the counterweight box 501 on one side, increasing the force of the counterweight box 501 on the cable 4, thereby achieving angle suppression of the cable 4, reducing the swing amplitude of the lifting assembly 7 in the air, and ultimately reducing the potential energy of the cargo in the air, thereby improving the safety of the crane and reducing the risk of cargo falling.

[0050] When the hook 704 is used for hoisting, the position of the clamping plate 703 is at a side close to the mobile basket 2. At the same time, during the hoisting process of the hook 704, the weight change of the counterweight assembly 5 is the same as the control method when the clamping plate 703 is used for hoisting, and no further details will be given here.

[0051] However, when the hook 704 is hoisting, the gravity of the hoisting assembly 7 can also be adjusted through the clamping plate 703 and the distance between the movable plate 701 and the connecting plate 702, so that the clamping plate 703 and the counterweight assembly 5 cooperate with each other to jointly achieve the angle adjustment of the hoisting assembly 7, that is, after the counterweight block 503 is adjusted, after the position of the Beidou satellite antenna is identified, it is judged that the inclination angle of the hoisting assembly 7 and the cross frame 101 in the vertical direction is still large. At this time, the controller first controls the connecting plate 702 and the movable plate 701 to move away from each other, and then adjusts the position of the clamping plate 703. Since the hoisting assembly 7 is in a tilted state at this time, the height adjustment of the clamping plates 703 on both sides can realize the adjustment of the weight of the hoisting assembly 7 body, thereby cooperating with the counterweight assembly 5 to reduce the inclination angle of the hoisting assembly 7.

[0052] Specifically, after the counterweight block 503 is adjusted, the height of the clamping plate 703 is adjusted to create a height difference between the clamping plates 703 on both sides, thereby completing the gravity distribution between the clamping plates 703 and achieving the angle optimization of the lifting assembly 7. It should be noted that in order to ensure that the adjustment of the clamping plates 703 can play a maximum role, the angle is adjusted through the rotating assembly 6 so that the two clamping plates 703 are in a straight line with the moving direction of the support assembly 1 and the movable basket 2, thereby maximizing the adjustment function of the clamping plates 703.

[0053] By cooperating with each other between the counterweight assembly 5 and the lifting assembly 7, the counterweight assembly 5 can be used to stabilize the unloaded lifting assembly 7, and at the same time, when the lifting assembly 7 is lifting the cargo, the position of the counterweight block 503 in the counterweight assembly 5 can be changed, thereby suppressing the inclination angle of the cable 4 and the lifting assembly 7 when lifting the cargo, thereby ensuring the safety of the crane. At the same time, when the hook 704 is used for lifting, after the counterweight assembly 5 suppresses the inclination angle of the cable 4, it can also ensure that the gravitational potential energy of the clamping plate 703 on the lifting assembly 7 is adjusted by changing the position of the clamping plate 703, so that the clamping plate 703 can cooperate with the counterweight assembly 5 to ensure the safety of the cargo when it is moved and the safety of the crane when it is in use.

[0054] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned crane adopts a Beidou satellite high-precision positioning detection system, including a processor, a controller, a Beidou satellite signal receiving board, at least three Beidou satellite antennas and a support assembly, characterized in that: The support assembly includes a cross frame, and a mobile basket is connected to the cross frame, and a hoisting assembly is connected to one side of the mobile basket, wherein Beidou satellite antennas are respectively fixedly connected to both ends of the cross frame distributed along the length and the hoisting assembly, and the signal output end of each Beidou satellite antenna is connected to the signal input end of the Beidou satellite signal receiving board, the signal output end of the Beidou satellite signal receiving board is connected to the signal input end of the processor, and the signal output end of the processor is connected to the signal input end of the controller; The mobile basket comprises a bottom plate, a power assembly is connected to the bottom plate, a cable is connected to the power assembly, and the extension direction of the cable passes through the bottom plate, a counterweight assembly is fixedly provided at one end of the cable, a rotating assembly is connected to the end of the counterweight assembly away from the cable, and the rotating assembly is connected to the hoisting assembly; The counterweight assembly comprises a counterweight box, a cavity is formed in the counterweight box, a plurality of counterweight blocks are movably arranged in the cavity, and the counterweight blocks are composed of electromagnetic blocks; The hoisting assembly includes a moving plate and a connecting plate, the moving plate and the connecting plate can contact each other, and the moving plate and the connecting plate are respectively movably provided with a clamping plate, and the moving plate and the connecting plate are slidably connected to the rotating assembly, and the connecting plate and the moving plate are controlled to move by a controller to adjust the distance between the connecting plate and the moving plate; A hook is connected to the connecting plate, and the hook is located between the two clamping plates. The length of the hook is the same as the length of the clamping plate, and the clamping plate can penetrate the movable plate and the connecting plate when the clamping plate moves; When the crane uses the clamping plate to hoist the cargo, the distance between the Beidou satellite antenna position on the hoisting assembly and the Beidou antenna position on the cross frame is used as a criterion in the horizontal direction to complete the angle recognition of the cable and the hoisting assembly, and then adjust the magnetic direction and magnetic force of the counterweight block to achieve the position adjustment of the counterweight block, so as to reduce the angle between the cable and the hoisting assembly and the cross frame; When the hook is used for lifting, the gravity of the lifting assembly can also be adjusted through the clamping plate and the distance between the movable plate and the connecting plate, so that the clamping plate and the counterweight assembly cooperate with each other to jointly achieve the angle adjustment of the lifting assembly.

2. The unmanned crane according to claim 1 adopts Beidou satellite high-precision positioning detection system, characterized in that: The support assembly also includes two support legs, both of which are fixedly connected to the cross frame, and the support legs can drive the cross frame to move, and the movable basket is located between the two support legs.

3. The unmanned crane according to claim 2 adopts Beidou satellite high-precision positioning detection system, characterized in that: The mobile basket also includes an enclosure, which is fixedly connected to the bottom plate and surrounds the power assembly. One end of the bottom plate away from the enclosure is connected with a moving wheel, and the moving wheel is rollingly connected to the cross frame.

4. The unmanned crane according to claim 1 adopts Beidou satellite high-precision positioning detection system, characterized in that: The power assembly comprises a winding column, the cable is wound around the winding column, and a motor is connected to one end of the winding column along the length direction.

5. The unmanned crane according to claim 1 adopts Beidou satellite high-precision positioning detection system, characterized in that: Rotating columns are rotatably arranged in the movable plate and the connecting plate, connecting ropes are wound around the two rotating columns, and the connecting ropes are connected to each other.

6. The unmanned crane according to claim 5 adopts Beidou satellite high-precision positioning detection system, characterized in that: The two rotating columns are respectively connected to the moving plate and the connecting plate through torsion springs.

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