The invention discloses a method for radially positioning the rotation angle of a portal crane trolley based on Beidou RTK, and belongs to the technical field of railway container crane hoisting. The method comprises the following specific steps: arranging a reference base station at a relative position near the portal crane as a point A for providing an RTK reference signal; selecting two datum points on the same diameter on a rotating device arranged on a transversely walking trolley on the portal crane, wherein the two datum points are marked as B and C; the point A is used as a reference station with known accurate coordinates, a Beidou RTK system is used for measuring a vector based on rotation of the rotating device in real time, and then a rotation angle is directly converted according to a global coordinate system and is further converted into the rotation angle of the rotating device of the portal crane. Measurement is carried out through one base point and two measurement reference points, measurement is convenient and fast, calibration is not needed, cost is low, implementation is fast, angle positioning information of the portal crane operation rotating device is rapidly collected, systematic automatic management is facilitated, information tracking of container position information is achieved, and the working efficiency is improved. And the operation efficiency of the portal crane and the management effect of the railway freight yard are improved.
一种基于北斗RTK径向定位门式起重机小车旋转角度的方法,属于铁路集装箱起重机吊装技术领域。本发明包括以下具体步骤:在门式起重机附近相对的位置设置一个参考基站,作为A点,用于提供RTK参考信号;在门式起重机上设置于横向行走的小车上的旋转装置上选取两个同一直径上的基准点,两个基准点标记为B和C;将A点作为已知精确坐标的基准站点,利用北斗RTK系统实时测量基于旋转装置旋转的向量再根据全球坐标系直接换算出的旋转角度,进而换算成门式起重机旋转装置的旋转角度。本发明通过1个基点,2个测量参考点进行测量,测量便捷,无需标定,成本低,实现快,实现了门式起重机作业旋转装置的角度定位信息快速采集,从而便于系统性自动管理,实现集装箱位置信息的信息追踪,提升了门式起重机作业的作业效率和铁路货场的管理成效。
Method for radially positioning rotation angle of portal crane trolley based on Beidou RTK
一种基于北斗RTK径向定位门式起重机小车旋转角度的方法
2022-03-18
Patent
Electronic Resource
Chinese
Lifting appliance, portal trolley and double-trolley quay crane
European Patent Office | 2021
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