The invention belongs to the technical field of engineering machinery, and particularly discloses a crane attitude positioning method, which comprises the following steps: S1, encoder installation: installing encoders on a crane, and installing the encoders on each mechanism of the crane; s2, GPS installation: installing a Beidou satellite antenna on the crane, and installing a Beidou satellite antenna on the crane; s3, PLC reading is carried out, an encoder positions the posture of the crane, positioning data are read through the PLC, whether a fault occurs or not is detected, and if detection is normal, the coordinate is converted into an absolute coordinate; s4, GPS self-inspection: carrying out self-inspection on the attitude of the crane by a Beidou satellite antenna, detecting whether a fault occurs or not, and if the detection is normal, converting into coordinates in the same coordinate system; s5, comparing: comparing the absolute coordinates positioned by the encoder with the coordinates of the same coordinate system; and S6, judgment: judging the comparison result of encoder positioning and coordinates in the same coordinate system, and the absolute value encoder positioning method and the GPS positioning method are combined, so that the method is high in precision and reliable.
本发明属于工程机械技术领域,具体公开了一种起重机姿态定位方法,包括以下步骤:S1:编码器安装,即在起重机上安装编码器,在起重机的各个机构上安装编码器;S2:GPS安装,即在起重机上安装北斗卫星天线,在起重机上安装北斗卫星天线;S3:PLC读取,编码器对起重机的姿态进行定位,通过PLC读取定位数据并进行检测是否故障,检测正常则转换为绝对坐标;S4:GPS自检,北斗卫星天线对起重机的姿态进行自检,检测是否故障,检测正常则转换为同一坐标系坐标;S5:比较,编码器定位的绝对坐标与同一坐标系坐标进行对比;S6:判断,判断编码器定位与同一坐标系坐标对比的结果,本发明通过将绝对值编码器定位方法和GPS定位方法结合起来,精度高并且可靠。
Crane attitude positioning method
一种起重机姿态定位方法
2023-08-29
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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