Container loading and unloading operation double GNSS antenna cooperative positioning device

Abstract

This utility model discloses a dual GNSS antenna cooperative positioning device for container loading and unloading operations. A first positioning antenna is positioned at the center of the lifting beam, and a second positioning antenna is positioned at the end of the lifting beam, allowing the positioning antennas to move with the lifting device. The distances from the first and second positioning antennas to the center of the lifting beam are configured differently. When the lifting beam lifts a container, the center of gravity detection component in the container overload / off-center load detection device generates rising or falling edge signals due to factors such as changes in the container's weight. This signal triggers the second positioning antenna, allowing the device to determine the container's specific location. When the lifting beam rotates, the position of the second positioning antenna relative to the first positioning antenna changes. Therefore, the positioning host can use the correspondence between the positions of the first and second positioning antennas and the container's center of gravity to obtain the container's position coordinates and center of gravity coordinates.

Description

[0001] This application claims priority to Chinese Patent Application No. 202521365260.9, filed on June 30, 2025, entitled "A Dual GNSS Antenna Cooperative Positioning Device for Container Loading and Unloading Operations", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This utility model relates to the field of container hoisting technology, and in particular to a dual GNSS antenna cooperative positioning device for container loading and unloading operations. Background Technology

[0003] The use of containers in ports and railway stations is becoming increasingly frequent. Simultaneously, automated terminals are placing stringent demands on the dynamic positioning of containers, a requirement that existing positioning technologies struggle to meet in complex scenarios. Furthermore, during container stacking and transportation, it is essential to locate not only the container's position but also its center of gravity to ensure safety during transport and stacking. Therefore, improving the efficiency of locating both the container's position and its center of gravity has become a critical issue that needs to be addressed. Utility Model Content

[0004] In view of this, this utility model embodiment provides a dual GNSS antenna cooperative positioning device for container loading and unloading operations. The second positioning antenna and the first positioning antenna are respectively set on the gantry beam and the gantry turntable. When the lifting equipment lifts the container, the center of gravity of the container is detected by the center of gravity detection component, and the position change of the gantry beam is detected by the positioning part, thereby obtaining the container coordinates and its center of gravity coordinates.

[0005] The dual GNSS for container loading and unloading operations in this embodiment of the utility model includes:

[0006] A lifting device includes a moving part, a lifting device, and a center of gravity detection assembly disposed on the lifting device. The moving part includes a lifting frame turntable. The lifting device includes a lifting frame beam and a plurality of lifting points disposed on the lifting frame beam. The lifting frame beam is disposed on the lifting frame turntable, and the plurality of lifting points are located on both sides of the lifting frame turntable.

[0007] The positioning unit includes a second positioning antenna and a first positioning antenna. The first positioning antenna is disposed on the hanger turntable, and the second positioning antenna is disposed on the hanger crossbeam. In the length direction of the hanger crossbeam, the second positioning antenna is offset from the hanger turntable.

[0008] Furthermore, the positioning unit is communicatively connected to the center of gravity detection component. The positioning unit collects center of gravity position information through the center of gravity detection component and collects satellite signals through the second positioning antenna and the first positioning antenna and uploads them.

[0009] Furthermore, the first positioning antenna corresponds to the center point of the hanger beam, and the second positioning antenna maintains a predetermined distance from the hanger turntable.

[0010] Furthermore, the hanger beam includes a main beam and two telescopic arms that extend movably from both ends of the main beam, with a plurality of lifting points disposed at the ends of the two telescopic arms, and the main beam disposed on the hanger turntable;

[0011] The second positioning antenna is located at the end of the main beam away from the hanger turntable.

[0012] Furthermore, the moving part also includes a cantilever and a rotation drive unit, and the hanger turntable is rotatably connected to the cantilever through the rotation drive unit.

[0013] Furthermore, the positioning unit also includes an information processing module, which is communicatively connected to the second positioning antenna and the first positioning antenna. The information processing module includes a satellite communication interface, a power interface, and a data transmission interface.

[0014] Furthermore, the information processing module includes a protective box, which is disposed on the hanger beam.

[0015] Furthermore, the center of gravity detection component is communicatively connected to the information processing module and includes multiple weight sensors corresponding to the multiple lifting points.

[0016] Furthermore, the container loading and unloading operation dual GNSS antenna cooperative positioning device also includes a cab, the cab is equipped with a display screen, and the center of gravity detection component is communicatively connected to the display screen.

[0017] Furthermore, the second positioning antenna is disposed on the top of the hanger beam, and the first positioning antenna is disposed on the top of the hanger turntable.

[0018] Furthermore, the hanger beam includes a main beam and two telescopic arms that extend movably from both ends of the main beam, with a plurality of lifting points disposed at the ends of the two telescopic arms, and the main beam disposed on the hanger turntable;

[0019] The second positioning antenna is disposed on one of the telescopic arms and is communicatively connected to the first positioning antenna.

[0020] This embodiment of the container loading and unloading operation dual GNSS antenna cooperative positioning device places the second positioning antenna on the gantry beam and the first positioning antenna on the gantry turntable. The distances from the second and first positioning antennas to the end of the gantry beam are configured differently. When the gantry beam is moved by the movable part, the current position of the container can be determined through the first positioning antenna. When the gantry beam rotates, the position of the second positioning antenna relative to the first positioning antenna changes in the circumferential direction of the gantry turntable. Therefore, the positioning host can use the correspondence between the position of the first positioning antenna and the position of the second positioning antenna relative to the center of gravity of the container to obtain the position coordinates and center of gravity coordinates of the container. This improves the container scheduling capability and the overall efficiency of the logistics chain. Simultaneously, it can also detect off-center loading problems of containers during transportation or stacking. Attached Figure Description

[0021] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

[0022] Figure 1 This is a front view schematic diagram of the dual GNSS antenna cooperative positioning device for container loading and unloading operations according to an embodiment of this utility model;

[0023] Figure 2 This is a top view schematic diagram of the hoisting assembly according to an embodiment of the present utility model;

[0024] Figure 3 This is a schematic diagram of the communication connection between the positioning unit and the positioning satellite in an embodiment of this utility model;

[0025] Figure 4 This is a schematic diagram of the communication connection between the positioning unit and the positioning host in an embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of the working operation of the dual GNSS antenna cooperative positioning device for container loading and unloading operations according to an embodiment of this utility model;

[0027] Figure 6 This is a schematic diagram of the positioning process of the dual GNSS antenna cooperative positioning device for container loading and unloading operations according to an embodiment of this utility model.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1-Positioning section;

[0030] 11-Second positioning antenna; 12-First positioning antenna; 13-Information processing module;

[0031] 2- Lifting equipment;

[0032] 21-Lifting device; 211-Lifting frame beam; 212-Main beam; 213-Telescopic boom;

[0033] 22-Moving part; 221-Hanger turntable;

[0034] 23-Lifting point;

[0035] 3-Cantilever;

[0036] 4- Rotary drive unit;

[0037] 5-Positioning satellites;

[0038] 6-Container;

[0039] 61 - Center of gravity position; 62 - First container; 63 - Second container;

[0040] 7-Location host;

[0041] A - First Placement Area;

[0042] B - Second Placement Area. Detailed Implementation

[0043] The present invention will now be described based on embodiments, but it is not limited to these embodiments. In the following detailed description of the present invention, certain specific details are described in detail. Those skilled in the art will fully understand the present invention even without these details. To avoid obscuring the essence of the present invention, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0044] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0045] Unless the context explicitly requires it, words such as "including" or "contains" throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0046] In the description of this utility model, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0047] Unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0048] For ease of explanation, spatially related terms such as “inside,” “outside,” “below,” “below,” “lower,” “above,” “upper,” etc., are used herein to describe the relationship between one element or feature illustrated in the figure and another. It will be understood that spatially related terms may be intended to encompass different orientations of the device in use or operation besides those depicted in the figure. For example, if the device in the figure is flipped, an element described as “below” or “below” another element or feature would then be positioned “above” that other element or feature. Thus, the exemplified term “below” can encompass both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially related descriptive terms used herein should be interpreted accordingly.

[0049] Figure 1 This is a front view schematic diagram of the dual GNSS antenna cooperative positioning device for container loading and unloading operations in this embodiment. Figure 2 This is a top view of the lifting assembly in this embodiment. The outline of container 6 in the figure is shown with a dashed line.

[0050] In some implementations, such as Figure 1 As shown, the dual GNSS antenna cooperative positioning device for container loading and unloading operations in this embodiment includes a positioning unit 1 and a lifting device 2. The lifting device 2 includes, but is not limited to, a container front crane (front crane), a bridge crane, or a gantry crane. The lifting device 2 includes a moving part 2, a spreader 21, and a center of gravity detection component disposed on the spreader 21. The moving part 22 includes a lifting platform 221, and the spreader 21 includes a lifting beam 211 and multiple lifting points 23 disposed on the lifting beam 211. The lifting beam 211 is disposed on the lifting platform 221, and the multiple lifting points 23 are located on both sides of the lifting platform 221. Further referring to… Figure 2 As shown, the moving part 22 is used to move the spreader 21. When the container 6 is lifted, the center of gravity detection component is used to detect the center of gravity position 61 of the container 6. The positioning part 1 includes a second positioning antenna 11 and a first positioning antenna 12.

[0051] Specifically, such as Figure 2As shown, in the width direction of the hanger beam 211, the first positioning antenna 12 can be positioned at the center plane of the hanger beam 211, and the second positioning antenna 11 can be positioned offset from the center plane. For example, it can be positioned at the upper left, lower left, upper right, or lower right position of the hanger beam 211. This allows for a further increase in the distance between the first positioning antenna 12 and the second positioning antenna 11, facilitating auxiliary measurements by the second positioning antenna 11.

[0052] Figure 3 This is a schematic diagram of the communication connection between the positioning unit 1 and the positioning satellite 5 in this embodiment. Figure 4 This is a schematic diagram of the communication connection between the positioning unit 1 and the positioning host 7 in this embodiment.

[0053] Further reference Figures 3-4 As shown, in this embodiment, the second positioning antenna 11 and the first positioning antenna 12 can communicate with the positioning satellite 5. The positioning satellite 5 can be a GPS satellite or a BeiDou satellite. The positioning satellite 5 can be used to locate the positions of the second positioning antenna 11 and the first positioning antenna 12 (i.e., both the second positioning antenna 11 and the first positioning antenna 12 are GNSS antennas). The first positioning antenna 12 is mounted on the hanger turntable 221, and the second positioning antenna 11 is mounted on the hanger crossbeam 211 to form a hoisting assembly. Furthermore, along the length of the hanger crossbeam 211, the second positioning antenna 11 is offset from the hanger turntable 221; that is, the distances from one end of the hanger crossbeam 211 to the second positioning antenna 11 and the first positioning antenna 12 are different. The second positioning antenna 11, the first positioning antenna 12, and the center of gravity detection component can be communicatively connected to the information processing module 13. The information processing module 13 may also include a signal transmitting unit, which is communicatively connected to the positioning host 7, thereby uploading the first position information of the second positioning antenna 11, the second position information of the first positioning antenna 12, and the center of gravity position information of the center of gravity detection component to the positioning host 7.

[0054] Figure 5 This is a schematic diagram of the dual GNSS antenna cooperative positioning device for container loading and unloading operations in this embodiment. The diagram shows a first placement area A and a second placement area B. The first placement area A can be a container 6 stacking area, and the second placement area B can be a container 6 stacking area or an open wagon. The center of gravity 61 of the container 6 is the area shown by the cross-section line. Taking an open wagon as an example, the containers 6 are all 20-foot standard, and two containers 6 are arranged along the length direction.

[0055] Further reference Figure 5As shown, a first placement area A contains a first container 62 and a second container 63. A lifting assembly can sequentially move the two containers 62 from the first placement area A to the second placement area B. The centers of gravity of both the first container 62 and the second container 63 in the first placement area A are on the right side. During the handling of the first container 62, the lifting assembly does not change the center of gravity position 61. During the handling of the second container 63, the lifting assembly reverses the direction of the second container 63, so that the centers of gravity of the second container 63 and the first container 62 are closer to the left and right sides of the open wagon, respectively. This avoids lateral unbalanced loading on the open wagon.

[0056] Figure 6 This is a schematic diagram of the positioning process of the dual GNSS antenna cooperative positioning device for container loading and unloading operations in this embodiment.

[0057] In some implementations, such as Figure 6 As shown, the positioning process in this embodiment includes the following steps.

[0058] Step S100: Receive satellite signals through the first positioning antenna 12 to determine the container's location, and also receive satellite signals through the second positioning antenna 11 to assist the first positioning antenna 12 in determining whether the container's location has changed.

[0059] Step S200: Determine the first position information based on the satellite signal from the first positioning antenna 12. The first position information in this step can be determined as the container coordinates.

[0060] Further reference Figures 1-2 As shown, the first positioning antenna 12 is disposed on the gantry turntable 221, which can be positioned or approximately directly above the container 6, so the first position information can be determined as the container coordinates.

[0061] Step S300: Determine the second position information based on the satellite signal from the second positioning antenna 11. The second position information is the position coordinates of the second positioning antenna 11.

[0062] Step S400: Determine the center of gravity position 61 of container 6 using the center of gravity detection component.

[0063] Step S500: Determine the relative positional relationship between the center of gravity position 61 and the second position information.

[0064] Specifically, when the lifting assembly lifts container 6, there is a stable correspondence between the first position information and the center of gravity position 61 of container 6. For example... Figure 5As shown, the second positioning antenna 11 and the center of gravity 61 of container 6 are located on the same side of the crane turntable 221, or the second positioning antenna 11 and the center of gravity 61 of container 6 are located on opposite sides of the crane turntable 221. The positioning host 7 can establish a second coordinate system based on the first position information, the second position information, and the center of gravity 61 of container 6 uploaded by the information processing module 13. The second coordinate system is a latitude and longitude coordinate system established based on the positioning satellite 5. The center of gravity 61 of container 6 is located in the first coordinate system, which is the position of the container's center of gravity relative to the four lifting points 23 or the first positioning antenna 12. The positioning host 7 can use a coordinate transformation algorithm to transform the center of gravity 61 of container 6 in the first coordinate system based on the first and second position information, and then present it in the second coordinate system.

[0065] Step S600: Determine the coordinates of the container's center of gravity by measuring the relative position changes between the first position information and the second position information.

[0066] Specifically, when the lifting assembly lifts container 6, the positioning host 7 can calculate the current coordinates of the container's center of gravity. When the lifting assembly places the first container 62 and the second container 63 onto the open wagon, the positioning host 7 can calculate the final coordinates of the container's center of gravity based on the coordinate information determined by the positioning unit 1 at the last moment. Thus, management personnel can see the latitude and longitude position of container 6 and the latitude and longitude position of its center of gravity in the second coordinate system.

[0067] In summary, the dual GNSS antenna cooperative positioning device for container loading and unloading operations in this embodiment sets the second positioning antenna 11 on the gantry beam 211 and the first positioning antenna 12 on the gantry turntable 221. Furthermore, the distances from the second positioning antenna 11 and the first positioning antenna 12 to the end of the gantry beam 211 are configured differently. When the gantry beam 211 is moved by the moving part 22, the current position of the container 6 can be determined through the first positioning antenna 12. When the gantry beam 211 rotates, the position of the second positioning antenna 11 relative to the first positioning antenna 12 changes in the circumferential direction of the gantry turntable 221. Therefore, the positioning host 7 can obtain the position coordinates and center-of-gravity coordinates of the container 6 by utilizing the correspondence between the position of the first positioning antenna 12 and the second positioning antenna 11 and the center-of-gravity position 61 of the container 6. This improves the scheduling capability of the container 6 and the overall efficiency of the logistics chain. Simultaneously, it can also detect off-center loading problems of the container 6 during transportation or stacking.

[0068] Furthermore, the positioning unit 1 is communicatively connected to the center of gravity detection component. The positioning unit 1 collects center of gravity position information through the center of gravity detection component, and simultaneously collects satellite signals through the second positioning antenna 11 and the first positioning antenna 12. The positioning unit 1 uploads the center of gravity position information and satellite signals to the positioning host 7. The positioning unit 1 may also be equipped with a signal transmission unit, through which it uploads the center of gravity position information, the first satellite signal, and the second satellite signal to the positioning host 7. This signal transmission unit may include a 4G or 5G antenna.

[0069] In some implementations, such as Figure 2 As shown, the first positioning antenna 12 corresponds to the center point of the hanger beam 211, and the second positioning antenna 11 maintains a predetermined distance from the hanger turntable 221. In this embodiment, the second positioning antenna 11 and the first positioning antenna 12 need to maintain a sufficient distance so that when the hanger beam 211 rotates, the positional change between the second positioning antenna 11 and the first positioning antenna 12 is large enough to improve detection accuracy.

[0070] In some implementations, such as Figures 1-2 As shown, the hanger beam 211 includes a main beam 212 and two telescopic arms 213 that extend movably from both ends of the main beam 212. Multiple lifting points 23 are located at the ends of the two telescopic arms 213. The main beam 212 is mounted on a hanger turntable 221, and the second positioning antenna 11 is located at the end of the main beam 212 away from the hanger turntable 221.

[0071] Specifically, in this embodiment, the spreader 21 has four lifting points 23, with two lifting points 23 at the end of each telescopic arm 213. The two telescopic arms 213 can move horizontally, changing the distance between the two pairs of lifting points 23, allowing the spreader 21 to accommodate 20-foot and 40-foot containers 6. Simultaneously, placing the second positioning antenna 11 at the end of the main beam 212 maximizes the distance between the second positioning antenna 11 and the first positioning antenna 12. Furthermore, when the distance of the telescopic arms 213 changes, the distance between the second positioning antenna 11 and the first positioning antenna 12 is prevented from changing, thus preventing deviations in the calculation of container coordinates due to changes in the distance between the second positioning antenna 11 and the first positioning antenna 12.

[0072] In other embodiments, the second positioning antenna 11 is mounted on a telescopic arm 213, and the second positioning antenna 11 is communicatively connected to the first positioning antenna 12. In this embodiment, the second positioning antenna 11 and the first positioning antenna 12 can detect changes in their distance by exchanging data packets. This prevents changes in the distance between the second positioning antenna 11 and the first positioning antenna 12 from affecting the calculation of the container's center of gravity coordinates. The data packet may include timestamp information, signal strength information, phase difference, and other parameters.

[0073] In some implementations, such as Figure 1 As shown, the moving part 22 also includes a cantilever 3 and a rotary drive part 4. The gantry turntable 221 is rotatably connected to the cantilever 3 via the rotary drive part 4. The rotary drive part 4 can drive the container 6 to rotate, and the operator can change the center of gravity position 61 of the container 6 through the rotary drive part 4. During this process, the relative position of the second positioning antenna 11 and the first positioning antenna 12 also changes accordingly, thereby synchronously correcting the center of gravity coordinates of the container.

[0074] Specifically, the hanger turntable 221 includes an upper turntable and a lower turntable, with the lower turntable connected to the hanger crossbeam 211. The rotation drive unit 4 drives the lower turntable to rotate relative to the upper turntable, thereby realizing the rotation of the hanger crossbeam 211.

[0075] In some implementations, such as Figure 1 As shown, the positioning unit 1 also includes an information processing module 13. The information processing module 13 is communicatively connected to the second positioning antenna 11 and the first positioning antenna 12. The information processing module 13 includes a satellite communication interface, a power interface, and a data transmission interface. In this embodiment, the information processing module 13 can send the position information collected by the second positioning antenna 11 and the first positioning antenna 12, as well as the center of gravity position 61 collected by the center of gravity detection component, to the positioning host 7. The satellite communication interface is used for communicative connection with the second positioning antenna 11 and the first positioning antenna 12, and the power interface can be connected to the battery pack of the container front crane.

[0076] In some implementations, such as Figure 1 As shown, the information processing module 13 includes a protective case, which is disposed on the hanger crossbeam 211. In this embodiment, the protective case protects the information processing module 13 from rain or dust erosion. The protective case can be hung on the side of the hanger crossbeam 211 away from the driver's cab, and is positioned close to the second positioning antenna 11.

[0077] In some implementations, such as Figures 1-2 As shown, the lifting equipment 2 also includes a center of gravity detection component. The center of gravity detection component is communicatively connected to the information processing module 13 and includes multiple weight sensors corresponding to multiple lifting points 23. In this embodiment, the multiple weight sensors are four weight sensors corresponding to the four lifting points 23. The four weight sensors can accurately detect the center of gravity position 61 of the container 6 in the first coordinate system.

[0078] In some implementations, such as Figure 1As shown, the dual GNSS antenna cooperative positioning device for container loading and unloading operations also includes a driver's cab. A display screen is installed in the driver's cab, and the center of gravity detection component is communicatively connected to the display screen. When the driver moves container 6, the center of gravity position 61 of container 6 can be displayed on the display screen. That is, the first coordinate system is displayed on the display screen, so that the driver can adjust the center of gravity position 61 of container 6 when stacking it.

[0079] Furthermore, the second coordinate system of the positioning host 7 can be displayed on the screen, allowing the driver to know the center of gravity 61 of the already stacked container 6. This helps the driver plan the stacking of the container 6.

[0080] In some implementations, such as Figure 1 As shown, the second positioning antenna 11 is located on the top of the lifting beam 211, and the first positioning antenna 12 is located on the top of the lifting turntable 221. This prevents interference between the container 6 and the spreader 21 and the signal of the positioning unit 1. The second positioning antenna 11 and the first positioning antenna 12 can be helical antennas.

[0081] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principle of this utility model should be included within the protection scope of this utility model.

Claims

1. A dual GNSS antenna cooperative positioning device for container loading and unloading operations, characterized in that, The container loading and unloading operation dual GNSS antenna cooperative positioning device includes: The lifting equipment (2) includes a moving part (22), a lifting device (21), and a center of gravity detection assembly disposed on the lifting device (21). The moving part (22) includes a lifting frame turntable (221). The lifting device (21) includes a lifting frame beam (211) and a plurality of lifting points (23) disposed on the lifting frame beam (211). The lifting frame beam (211) is disposed on the lifting frame turntable (221), and the plurality of lifting points (23) are located on both sides of the lifting frame turntable (221). The positioning unit (1) includes a first positioning antenna (12) and a second positioning antenna (11). The first positioning antenna (12) is disposed on the hanger turntable (221), and the second positioning antenna (11) is disposed on the hanger crossbeam (211). In the length direction of the hanger crossbeam (211), the second positioning antenna (11) is offset from the hanger turntable (221).

2. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 1, characterized in that, The positioning unit (1) is communicatively connected to the center of gravity detection component. The positioning unit (1) collects center of gravity position information through the center of gravity detection component and collects satellite signals through the second positioning antenna (11) and the first positioning antenna (12) and uploads them.

3. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 1, characterized in that, The first positioning antenna (12) corresponds to the center point of the hanger beam (211), and the second positioning antenna (11) maintains a predetermined distance from the hanger turntable (221).

4. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 3, characterized in that, The hanger beam (211) includes a main beam (212) and two telescopic arms (213) that extend movably from both ends of the main beam (212). A plurality of the lifting points (23) are provided at the ends of the two telescopic arms (213). The main beam (212) is provided on the hanger turntable (221). The second positioning antenna (11) is located at the end of the main beam (212) away from the hanger turntable (221).

5. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 4, characterized in that, The moving part (22) also includes a cantilever (3) and a rotation drive part (4), and the hanger turntable (221) is rotatably connected to the cantilever (3) through the rotation drive part (4).

6. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 1, characterized in that, The positioning unit (1) further includes an information processing module (13), which is communicatively connected to the second positioning antenna (11) and the first positioning antenna (12). The information processing module (13) includes a satellite communication interface, a power interface and a data transmission interface.

7. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 6, characterized in that, The information processing module (13) includes a protective box, which is disposed on the hanger beam (211).

8. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 6, characterized in that, The center of gravity detection component is communicatively connected to the information processing module (13) and includes multiple weight sensors corresponding to the multiple lifting points (23).

9. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 8, characterized in that, The container loading and unloading operation dual GNSS antenna cooperative positioning device also includes a cab, which is equipped with a display screen, and the center of gravity detection component is communicatively connected to the display screen.

10. The container loading and unloading operation dual GNSS antenna cooperative positioning device according to claim 1, characterized in that, The second positioning antenna (11) is disposed on the top of the hanger beam (211), and the first positioning antenna (12) is disposed on the top of the hanger turntable (221).

Images