Gantry crane attitude monitoring system and method based on beidou satellite positioning system

Abstract

The invention provides a gantry crane attitude monitoring system and method based on a beidou satellite positioning system. The gantry crane attitude monitoring system comprises a processor, a motion control system, a beidou signal receiving plate and at least one beidou satellite antenna group, wherein each beidou satellite antenna group is fixedly arranged on each supporting arm of a gantry crane arm support system; the signal output ends of beidou satellite antennas are connected with the signal input end of the beidou signal receiving plate; the signal output end of the beidou signal receiving plate is connected with the signal input end of the processor; the signal output end of the processor is connected with the signal input end of the motion control system. A rotary amplitude change attitude of the gantry crane arm support system is measured based on a beidou satellite, the gantry crane attitude monitoring system is completely independent to a motion part and a control system without influence by factors such as abrasion and aging of a mechanical part, so that the gantry crane attitude monitoring system has the advantage of long service life; moreover, accumulation error of the gantry crane attitude monitoring system is avoided, so that the gantry crane attitude monitoring system has the advantage of high measurement precision.

Description

technical field [0001] The invention belongs to the technical field of portal crane control, and in particular relates to a portal crane posture monitoring system and method based on the Beidou satellite positioning system. Background technique [0002] Portal cranes are important equipment for port loading and unloading operations and shipbuilding. They are mainly used for lifting parts and cargo. Due to their good performance, portal cranes are widely used in shipyards and ports. [0003] With the rapid development of world shipping and the improvement of ship construction efficiency, the portal cranes arranged in shipyards and ports are becoming more and more intensive. The collisions between portal cranes and the frequency of collisions between portal cranes and surrounding buildings Also thereupon increases, and major accident occurs from time to time. [0004] In order to solve the above-mentioned collision problem, in the prior art, there is a design for real-time mo...

AI Technical Summary

Problems solved by technology

However, in the current large-scale gantry cranes, the design of slew and amplitude is mainly: installing an angle sensor or a limiter at the joint between the tower arm and the tower base of the gantry crane, which is based on the angle deflection measurement of the mechanical method. Problems that are complex and require high precision, and are greatly affected by mechanical wear and aging

In addition, in the prior art, there is also an encoder method to measure the slewing amplitude attitude, that is, the angle is indirectly measured by measuring the rotational speed and stroke through the encoder. Due to the cumulative error, it also needs to be cleared with a magnetic cylinder and other devices, which has a relatively low cost. high problem

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