WO2015135309A1 - 工程机械作业目标定位方法和系统 - Google Patents

工程机械作业目标定位方法和系统 Download PDF

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Publication number
WO2015135309A1
WO2015135309A1 PCT/CN2014/085988 CN2014085988W WO2015135309A1 WO 2015135309 A1 WO2015135309 A1 WO 2015135309A1 CN 2014085988 W CN2014085988 W CN 2014085988W WO 2015135309 A1 WO2015135309 A1 WO 2015135309A1
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WO
WIPO (PCT)
Prior art keywords
boom
rover
crane
pitch angle
predetermined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2014/085988
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English (en)
French (fr)
Inventor
单增海
朱长建
赵忠祥
李�权
朱冒峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou Heavy Machinery Co Ltd
Original Assignee
Xuzhou Heavy Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xuzhou Heavy Machinery Co Ltd filed Critical Xuzhou Heavy Machinery Co Ltd
Priority to EP14885490.4A priority Critical patent/EP3190081B1/en
Priority to PCT/CN2014/085988 priority patent/WO2015135309A1/zh
Priority to US15/507,931 priority patent/US10144620B2/en
Publication of WO2015135309A1 publication Critical patent/WO2015135309A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Definitions

  • the invention relates to the field of engineering machinery, in particular to a method and system for positioning a target of an engineering machine.
  • the lifting of large heavy objects often requires careful investigation and calculation through the site. Predict the length of the boom extension, the boom pitch angle and other conditions. Moreover, at the job site, it is also necessary to conduct the lifting work by the operator's visual inspection and experience through the on-site personnel command and dispatch. On-site operations often require multi-person collaboration, repeated adjustments, and increased work uncertainty and lifting time. Especially in the complex conditions such as nighttime, rain and snow, it also increases the difficulty of operation and guidance of field personnel.
  • the wireless positioning accuracy of the target point is low. Since the high-precision wireless positioning is not open, only the civilian pseudo-code can be used, and the target point positioning accuracy is about 10 meters.
  • the actual size error is too large to accurately judge the suspension. The exact location of the object. If the object to be lifted and the crane hook are deviated in the vertical direction, the phenomenon of “clawing and pulling” may cause damage to the crane and even cause a tipping accident.
  • the execution of the boom is not clear.
  • the execution of the boom mainly relies on the on-site personnel command and dispatch, and is completed by the operator's visual inspection and experience.
  • the exact position of the object cannot be accurately determined due to the operator's visual error.
  • Lifting height and lifting angle are all based on visual inspection and experience to increase risk.
  • the present invention provides a construction machine working target positioning method and system, and adopts a real-time dynamic differential measurement method, which can greatly improve the positioning accuracy of the work target.
  • a construction machine work target positioning method including:
  • the base station collects the satellite positioning information as the current measured value D0 in real time, and transmits D0 to the first rover and the second rover, wherein the reference station is disposed at the center of the swing axis of the crane, and the first rover is disposed at the lifting position of the object to be lifted
  • the second rover is located at the front of the crane;
  • the first rover collects satellite positioning information in real time as the current measured value D1, performs real-time dynamic differential processing on D0 and D1 to obtain relative coordinate information of the first rover, and transmits relative coordinate information of the first rover to the crane to solve unit;
  • the second rover collects satellite positioning information in real time as the current measured value D2, performs real-time dynamic differential processing on D0 and D2 to obtain relative coordinate information of the second rover, and sends the relative coordinate information of the second rover to the crane to solve unit;
  • the crane solving unit determines the boom extension length, the boom pitch angle, and the boom rotation angle according to the relative coordinate information of the first rover and the relative coordinate information of the second rover;
  • the crane controller controls the boom to run to the suspended position of the suspended object to lift the suspended object according to the extension length of the boom, the pitch angle of the boom, and the angle of rotation of the boom.
  • the execution crane controller controls the boom to run to the hoisted object according to the boom extension length, the boom pitch angle, and the boom rotation angle. The step of lifting the object to be lifted in the lifting position.
  • the step of determining, by the crane solving unit, the boom extension length, the boom pitch angle, and the boom rotation angle according to the relative coordinate information of the first rover and the relative coordinate information of the second rover includes:
  • the crane solving unit determines the boom extension length and the boom pitch angle according to the relative coordinate information of the first rover;
  • the crane solving unit determines the boom rotation angle according to the relative coordinate information of the first rover and the relative coordinate information of the second rover.
  • the crane controller controls the step of lifting the boom to the suspended position of the object to be lifted according to the extension length of the boom, the pitch angle of the boom, and the angle of rotation of the boom.
  • the amplitude is changed to adjust the current boom pitch angle to a predetermined boom pitch angle range
  • the boom is rotated to adjust the current rotation angle to a predetermined boom rotation angle range
  • the length sensor collects the current telescopic length within a predetermined boom extension length
  • the boom is telescoped to adjust the current telescopic length to a predetermined boom extension length
  • the object to be lifted is lifted.
  • the method further comprises: the base station will have a known base
  • the precision coordinates of the quasi-station are sent to the first rover station and the second rover station; the first rover station obtains the precision coordinates of the first rover according to the precision coordinates of the base station and the relative coordinate information of the first rover, and sends the coordinates to the crane solving unit;
  • the second rover acquires the second rover precision coordinates according to the reference station precise coordinates and the relative coordinate information of the second rover, and sends the coordinates to the crane solving unit.
  • a construction machine work target positioning system including a base station, a first flow station, a second flow station, a crane solving unit, and a crane controller, wherein the base station is disposed at a center of the crane rotary shaft
  • the first rover is arranged at the lifting position of the object to be lifted, and the second rover is arranged at the front of the crane, wherein:
  • a base station for collecting satellite positioning information in real time as the current measured value D0, and transmitting D0 to the first rover and the second rover;
  • the first rover is configured to collect satellite positioning information in real time as the current measured value D1, perform real-time dynamic differential processing on D0 and D1 to obtain relative coordinate information of the first rover, and send relative coordinate information of the first rover to Crane solving unit;
  • a second rover for collecting satellite positioning information in real time as the current measured value D2, performing real-time dynamic differential processing on D0 and D2 to obtain relative coordinate information of the second rover, and transmitting relative coordinate information of the second rover to Crane solving unit;
  • a crane solving unit configured to determine a boom extension length, a boom pitch angle, and a boom rotation angle according to the relative coordinate information of the first rover and the relative coordinate information of the second rover;
  • a crane controller is configured to control the boom to run to the suspended position of the suspended object to lift the suspended object according to the extension length of the boom, the pitch angle of the boom, and the angle of rotation of the boom.
  • the crane solving unit is further configured to determine the boom extension length, the boom pitch angle, and the boom rotation angle according to the relative coordinate information of the first rover and the relative coordinate information of the second rover. Thereafter, determining whether the boom extension length, the boom pitch angle, and the boom rotation angle are within a predetermined lifting height range, a boom pitch angle range, and a boom rotation angle range; and the boom extension length and the boom The pitch angle and the boom angle are not in the predetermined lifting height range, the boom pitch angle range, and the boom rotation.
  • the alarm information is output; and when the boom extension length, the boom pitch angle, and the boom rotation angle are within a predetermined lifting height range, the boom pitch angle range, and the boom rotation angle range, the crane is instructed
  • the controller performs an operation of lifting the suspended object according to the extension length of the boom, the pitch angle of the boom, and the angle of rotation of the boom, and controlling the lifting of the boom to the lifting position of the object to be lifted.
  • the crane solving unit comprises a first solving module and a second solving module, wherein:
  • a first solving module configured to determine a boom extension length and a boom pitch angle according to relative coordinate information of the first rover;
  • the second solving module is configured to determine the boom rotation angle according to the relative coordinate information of the first rover and the relative coordinate information of the second rover.
  • the crane controller comprises a first identification module, a second identification module, a third identification module, and an execution module, wherein:
  • a first identification module configured to determine whether a current boom pitch angle collected by the main arm angle sensor is within a predetermined boom pitch angle range
  • a second identification module configured to determine, according to the judgment result of the first identification module, whether the current swing angle collected by the swing angle encoder is at a predetermined boom rotation angle when the current boom pitch angle is within a predetermined boom pitch angle range
  • a third identification module configured to determine, according to the determination result of the second identification module, whether the current telescopic length is within a predetermined boom extension length when the current rotation angle is within a predetermined boom rotation angle range;
  • an execution module configured to: according to the judgment result of the first identification module, when the current boom pitch angle is not within the predetermined boom pitch angle range, perform an amplitude change to adjust the current boom pitch angle to a predetermined boom pitch angle range
  • the boom is rotated to adjust the current rotation angle to the predetermined boom rotation angle range
  • the third recognition module As a result, when the current telescopic length is not within the predetermined boom extension length, the boom is telescoped to adjust the current telescoping length to a predetermined boom extension length, and when the current telescopic length is within the predetermined boom extension length, the hoistway The object being lifted.
  • the reference station is further configured to transmit the known reference station precise coordinates to the first rover and the second rover; the first rover is further configured to use the base station precise coordinates and the first flow
  • the relative coordinate information of the station acquires the precise coordinates of the first rover and is sent to the crane solving unit; the second rover is further configured to acquire the precise coordinates of the second rover according to the precision coordinates of the reference station and the relative coordinate information of the second rover, And sent to the crane solution unit.
  • the invention can greatly improve the positioning accuracy of the working target through the real-time dynamic differential measurement method.
  • the boom automatic tracking is used, and the lifting height, the pitch height of the boom and the extension length of the boom can be automatically adjusted within a predetermined range during the lifting process, thereby avoiding The errors and risks brought about by visual adjustment.
  • FIG. 1 is a schematic view of an embodiment of a construction machine working target positioning method according to the present invention.
  • FIG. 2 is a schematic view showing the installation of a base station and a rover in an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the crane solving unit determining the boom extension length, the boom pitch angle, and the boom rotation angle according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a crane controller controlling a boom to hoist the suspended object in a lifting position of the object to be lifted according to an embodiment of the present invention.
  • Figure 5 is a schematic illustration of the determination of the coordinates of a rover by a base station and a rover in accordance with one embodiment of the present invention.
  • FIG. 6 is a schematic view of another embodiment of a method for positioning a construction machine operation target according to the present invention.
  • FIG. 7 is a schematic view showing still another embodiment of a method for positioning a construction machine operation target according to the present invention.
  • FIG. 8 is a schematic diagram of still another embodiment of a method for positioning a construction machine operation target according to the present invention.
  • Fig. 9 is a schematic view showing an embodiment of a construction machine working target positioning system of the present invention.
  • Figure 10 is a schematic view showing another embodiment of the construction machine working target positioning system of the present invention.
  • FIG 11 is a schematic illustration of a crane controller in accordance with one embodiment of the present invention.
  • FIG. 12 is a schematic view of still another embodiment of a construction machine working target positioning system of the present invention.
  • FIG. 1 is a schematic view of an embodiment of a construction machine working target positioning method according to the present invention.
  • the embodiment can be performed by the construction machine working target positioning system of the present invention.
  • the method includes the following steps:
  • Step 102 The base station collects satellite positioning information in real time as the current measured value D0, and transmits D0 to the first rover and the second rover.
  • the base station It is arranged at the center of the rotary shaft of the crane, the first rover is arranged at the lifting position of the object to be lifted, and the second rover is arranged at the front of the crane.
  • the reference station refers to an instrument used as a fixed station, which is erected with a tripod relative to another instrument mobile station and is fixed.
  • a satellite positioning system receiver needs to be placed on the reference station (base station) for observation.
  • the base station transmits the known station precise coordinates and the received satellite information directly or after processing to the rover for reception.
  • Machine to be fixed.
  • the rover is a relative base station. When the rover receiver performs GPS observation, it also receives the information of the base station, and corrects the result to improve the positioning accuracy.
  • the satellite positioning data may be satellite positioning data from a satellite navigation system such as the China Beidou satellite navigation system, the US GPS and the Russian GLONASS (Global Navigation Satellite System), and the European Galileo satellite positioning system.
  • a satellite navigation system such as the China Beidou satellite navigation system, the US GPS and the Russian GLONASS (Global Navigation Satellite System), and the European Galileo satellite positioning system.
  • Step 104 The first rover collects satellite positioning information in real time as the current measured value D1, performs real-time dynamic differential processing on D0 and D1 to obtain relative coordinate information R1 of the first rover, and compares the relative coordinate information R1 of the first rover. Send to the crane solver unit.
  • the present invention uses an RTK (Real-time kinematic) GPS measurement method to determine the exact relative position of an object (flow station) to a reference station.
  • RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field.
  • RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observations. It can provide three-dimensional positioning results of the station in the specified coordinate system in real time, and achieve centimeter-level accuracy (and the number of GPS satellites, atmospheric ionosphere, GPS antenna gain).
  • RTK Real-time kinematic
  • the base station transmits its observations (GPS acquisition values) to the rover along with the station coordinate information via the data link.
  • the rover not only receives data from the base station through the data link, but also collects GPS observation data, and forms differential observations in the system for real-time processing, and gives the positioning result, which lasts less than one second.
  • the rover can be in a static state or in a moving state; it can be initialized before entering the dynamic work at a fixed point, or can be directly turned on under dynamic conditions, and complete the search for the ambiguity of the whole week in a dynamic environment. After the whole week's unknown solution is fixed, the real-time processing of each epoch can be performed. As long as the tracking of the phase observations of more than four satellites and the necessary geometry can be maintained, the rover can follow Give centimeter-level positioning results.
  • the GPS receiver selects a dual frequency receiver that can simultaneously receive two carrier signals.
  • the use of dual-frequency is different for the ionospheric delay, which can eliminate the influence of the ionosphere on the delay of the electromagnetic wave signal. Therefore, the dual-frequency receiver can be used for precise positioning of thousands of kilometers.
  • the first rover transmits the relative coordinate information R1 of the first rover to the crane solving unit by wireless data transmission.
  • wireless data transmission is wireless data transmission, which is a wireless network as a communication platform, providing a standard RS-232/485/TTL interface, designed according to industry standards, and can be directly connected with RTU, PLC, smart meter, single-chip controller, etc.
  • the serial communication of the industrial RS232/RS485 serial device can be immediately converted into a two-way converted data transmission device for GPRS wireless network communication.
  • Step 106 The second rover collects satellite positioning information in real time as the current measured value D2, performs real-time dynamic differential processing on D0 and D2 to obtain relative coordinate information of the second rover, and sends the relative coordinate information R2 of the second rover. Give the crane a solution unit.
  • the second rover transmits the relative coordinate information R2 of the second rover to the crane solving unit via the CAN bus.
  • Step 108 The crane solving unit determines the boom extension length, the boom pitch angle, and the boom rotation angle according to the relative coordinate information R1 of the first rover and the relative coordinate information R2 of the second rover.
  • the solving unit may employ an embedded processor to run a real time operating system.
  • the crane solving unit integrates the CAN bus controller, UART serial port unit, SPI interface, etc., and can be directly connected to the base station.
  • Step 110 The crane controller controls the boom to run to the suspended position of the suspended object to lift the suspended object according to the boom extension length, the boom pitch angle, and the boom rotation angle.
  • the objective positioning method of the construction machine is determined by the RTK (Real-time kinematic) measurement method, and the relative position between the observation points is determined according to the observation data of two or more receivers. That is, the base station is installed on the crane, and the observation value D0 is sent to the receiver on the lifting object, and the lifting object receiver The position information D1 is collected, and the difference calculation between D0 and D1 can accurately calculate the distance between the crane and the lifting object, thereby greatly improving the positioning accuracy of the working target, and the precision can reach 1 to 2 cm.
  • RTK Real-time kinematic
  • step 108 may include:
  • Step 302 The crane solving unit determines the boom extension length and the boom pitch angle according to the relative coordinate information R1 of the first rover.
  • the crane solving unit is based on the constraint input by the user (eg, lifting height range, boom) Pitch Height Range) Calculate the appropriate boom extension and pitch angle.
  • Step 304 The crane solving unit determines the boom rotation angle according to the relative coordinate information R1 of the first rover and the relative coordinate information R2 of the second rover.
  • the crane solving unit can determine the angle of rotation of the crane by locating the relative position coordinates between the first and second rover stations (Station A and Station B).
  • the above embodiment of the present invention fixes the base station at the center of the rotary shaft of the crane, and can avoid motion planning errors (boom extension length, pitch angle) due to large errors in the measurement of the vehicle body direction.
  • a second rover (station B) is installed at the front of the crane to assist in locating the head angle to determine the angle of rotation. Therefore, in the case where the vehicle body direction measurement error is large, it is only necessary to adjust the swing angle during actual operation.
  • the method may further include:
  • the crane is The arm extension length, the boom pitch angle, and the boom pivot angle are transmitted to the crane controller via the CAN bus and step 110 is performed as shown in FIG.
  • the solving unit will output an alarm message when the solving unit acquires a value outside the set constraint or the crane itself cannot move to the lifting position of the station A. This makes it possible to avoid crane failures and automatically reminds the operator that the crane itself cannot move to the lifting position of station A.
  • step 110 in the embodiment shown in FIG. 1 may include:
  • Step 402 In the process of controlling the boom to run to the suspended position of the suspended object, determine whether the current boom pitch angle collected by the main arm angle sensor is within a predetermined boom pitch angle range. If the current boom pitch angle is not within the predetermined boom pitch angle range, step 404 is performed; otherwise, if the current boom pitch angle is within the predetermined boom pitch angle range, step 406 is performed.
  • the predetermined boom pitch angle range refers to a user-set error range of the boom pitch angle, wherein the boom pitch angle is determined by the crane solving unit.
  • Step 404 the amplitude change is performed, and then step 402 is repeatedly performed to adjust the current boom pitch angle to a predetermined boom pitch angle range.
  • Step 406 Determine whether the current swing angle acquired by the swing angle encoder is within a predetermined boom angle range. If the current rotation angle is not within the predetermined boom rotation angle range, step 408 is performed; otherwise, if the current rotation angle is within the predetermined boom rotation angle range, step 410 is performed.
  • the predetermined range of rotation angle refers to an error range of the angle of rotation of the boom set by a user, wherein the angle of rotation is determined by the crane solving unit.
  • Step 408 rotating the boom, and then repeating step 406 to adjust the current swing angle to within a predetermined boom swing angle range.
  • Step 410 Determine whether the length sensor collects whether the current telescopic length is within a predetermined boom extension length. If the current telescopic length is not within the predetermined boom extension length, step 412 is performed; otherwise, if the current telescoping length is within the predetermined boom extension length, step 414 is performed.
  • the predetermined boom extension length range refers to a user-set error range of the boom extension length, wherein the boom extension length is determined by the crane solving unit.
  • Step 412 the telescopic boom is adjusted to adjust the current telescopic length to a predetermined boom extension length, and then the other steps of this embodiment are not performed.
  • Step 414 controlling the boom to run to the suspended object lifting position to lift the suspended object.
  • the above embodiment of the present invention selects the crane settlement unit to calculate according to the position information collected by the receiver, and the crane controller determines the lifting height, the pitch height of the boom, the extension length of the boom, etc. to complete the lifting process within the error range set by the user. .
  • the method may further include: the base station transmitting the known base station precise coordinates d0 to the first rover and the second rover.
  • the method may further include: the first rover acquiring the first rover precision coordinate d1 according to the reference station precise coordinate d0 and the relative coordinate information R1 of the first rover, and transmitting to the crane
  • the solving unit is configured to display the first rover precision coordinate d1.
  • the method may further include: the second rover acquiring the second rover precision coordinate d2 according to the reference station precise coordinate d0 and the relative coordinate information R2 of the second rover, and transmitting to the crane
  • the solving unit is configured to display the second rover precision coordinate d2.
  • the first rover precision coordinate d1 and the second rover precision coordinate d2 can also be determined and displayed by the above-described embodiments of the present invention.
  • Figure 5 is a schematic diagram of the determination of the coordinates of the first rover by the base station and the first rover in accordance with one embodiment of the present invention. As shown in FIG. 5, the method includes:
  • step 501 the base station collects satellite positioning information in real time as the current measured value D0.
  • Step 502 The first rover collects satellite positioning information in real time as the current measured value D1.
  • step 501 and step 502 can be reversed.
  • Step 503 the base station sends D0 and the known base station precise coordinate d0 to the first Rover.
  • Step 504 the first rover performs real-time dynamic differential processing on D0 and D1 to obtain relative coordinate information R1 of the first rover.
  • Step 505 the first rover determines the precise coordinate d1 of the first rover according to d0 and R1.
  • step 506 the first rover sends R1 and d1 to the crane starting unit.
  • the flow chart of determining the coordinates of the second rover by the base station and the second rover is the same as that described in FIG. 5, and will not be described in detail herein.
  • the first rover transmits R1 and d1 to the crane starting unit
  • the second rover transmits R2 and d2 to the crane starting unit to perform steps 108 and 110 in the embodiment shown in FIG.
  • the reference station collects the measured value D0 and sends it to the rover, and the rover performs real-time dynamic differential calculation to obtain the relative coordinates of the rover, and determines the precise coordinates of the rover, thereby reducing the reference station. Performance requirements.
  • FIG. 6 is a schematic view of another embodiment of a method for positioning a construction machine operation target according to the present invention.
  • the method includes:
  • step 601 the base station collects satellite positioning information in real time as the current measured value D0.
  • Step 602 The first rover collects satellite positioning information in real time as the current measured value D1.
  • step 601 and step 602 can be reversed.
  • step 603 the first rover sends D1 to the base station.
  • step 604 the base station performs real-time dynamic differential processing on D0 and D1 to obtain relative coordinate information R1 of the first rover.
  • step 605 the base station determines the exact coordinate d1 of the first rover based on R1 and the known base station precise coordinate d0.
  • step 606 the base station transmits R1 and d1 to the crane starting unit.
  • the flow chart of determining the coordinates of the second rover by the base station and the second rover is the same as that described in FIG. 6, and will not be described in detail herein.
  • the first rover sends R1 and d1 to the crane starting unit
  • the second rover sends R2 and d2 to the crane starting unit to execute FIG. Step 108 and step 110 in the embodiment are shown.
  • the difference between the embodiment shown in FIG. 6 and the embodiment shown in FIG. 5 is mainly that the steps of obtaining the relative coordinates of the rover and determining the precise coordinates of the rover by the real-time dynamic differential calculation are performed by the reference station, thereby reducing the rover to the rover. Performance requirements.
  • the signal interaction between the first rover and the crane is only once, step 603, thereby also increasing system efficiency.
  • FIG. 7 is a schematic view showing still another embodiment of a method for positioning a construction machine operation target according to the present invention.
  • the method includes:
  • step 701 the base station collects satellite positioning information in real time as the current measured value D0.
  • Step 702 The first rover collects satellite positioning information in real time as the current measured value D1.
  • step 703 the base station determines the correction value k based on D0 and the known base station precise coordinate d0.
  • step 702 can also be placed before step 701 or after step 703.
  • step 704 the base station transmits d0 and k to the first rover.
  • Step 705 the first rover determines the precise coordinate d1 of the first rover according to D1 and k.
  • Step 706 the first rover determines the relative coordinate information R1 of the first rover according to d0 and d1.
  • step 707 the first rover sends R1 and d1 to the crane starting unit.
  • the flow chart of determining the coordinates of the second rover by the base station and the second rover is the same as that described in FIG. 7, and will not be described in detail herein.
  • the first rover transmits R1 and d1 to the crane starting unit
  • the second rover transmits R2 and d2 to the crane starting unit to perform steps 108 and 110 in the embodiment shown in FIG.
  • the embodiment shown in FIG. 7 is similar to the embodiment shown in FIG. 5, and the difference is mainly that the reference station determines the correction value according to the reference station measurement value and the known base station precision coordinates, and transmits the correction value to the rover.
  • the rover determines the rive's precise coordinates from the correction and rover measurements.
  • FIG. 8 is a schematic diagram of still another embodiment of a method for positioning a construction machine operation target according to the present invention. Place The methods include:
  • step 801 the base station collects satellite positioning information in real time as the current measured value D0.
  • step 802 the first rover collects satellite positioning information in real time as the current measured value D1.
  • step 803 the base station determines the correction value k based on D0 and the known base station precision coordinate d0.
  • step 802 can also be placed before step 801 or after step 803.
  • step 804 the first rover sends D1 to the base station.
  • step 805 the base station determines the exact coordinate d1 of the first rover based on D1 and k.
  • Step 806 the base station determines relative coordinate information R1 of the first rover according to d0 and d1.
  • step 807 the base station transmits R1 and d1 to the crane starting unit.
  • the flow chart of determining the coordinates of the second rover by the base station and the second rover is the same as that described in FIG. 8, and will not be described in detail herein.
  • the first rover transmits R1 and d1 to the crane starting unit
  • the second rover transmits R2 and d2 to the crane starting unit to perform steps 108 and 110 in the embodiment shown in FIG.
  • the embodiment shown in FIG. 8 is similar to the embodiment shown in FIG. 7, and the difference is mainly in that the steps of obtaining the relative coordinates of the rover and determining the precise coordinates of the rover by the real-time dynamic difference calculation are performed by the reference station, thereby reducing the flow to the flow. Station performance requirements. At the same time, the signal interaction between the rover and the crane is only once, step 804, thereby also increasing system efficiency.
  • Fig. 9 is a schematic view showing an embodiment of a construction machine working target positioning system of the present invention.
  • the illustrated construction machine work target positioning system includes a base station 901, a first rover 902, a second rover 903, a crane solving unit 904, and a crane controller 905, wherein the base station 901 is set in the crane back.
  • the first rover 902 is disposed at the lifting position of the object to be lifted
  • the second rover 903 is disposed at the front of the crane, wherein:
  • the base station 901 is configured to collect satellite positioning information in real time as the current measured value D0, and send D0 to the first rover 902 and the second rover 903.
  • a first rover 902 configured to collect satellite positioning information in real time as the current measured value D1, Real-time dynamic differential processing is performed on D0 and D1 to obtain relative coordinate information R1 of the first rover 902, and the relative coordinate information R1 of the first rover 902 is transmitted to the crane solving unit 904.
  • the second rover 903 is configured to collect the satellite carrier phase measurement value D2, perform real-time dynamic differential processing on D0 and D2 to obtain relative coordinate information R2 of the second rover 903, and compare coordinate information R2 of the second rover 903. It is sent to the crane solving unit 904.
  • the crane solving unit 904 is configured to determine the boom extension length, the boom pitch angle, and the boom rotation angle according to the relative coordinate information R1 of the first rover 902 and the relative coordinate information R2 of the second rover 903.
  • the crane controller 905 is configured to control the boom to run to the suspended object lifting position to lift the suspended object according to the boom extension length, the boom pitch angle, and the boom rotation angle.
  • the relative position between the observation points is determined according to the observation data of two or more receivers by the RTK measurement method, that is, the reference station is installed on the crane, and the observation value is obtained.
  • D0 is sent to the receiver on the lifting object, the lifting object receiver collects the position information D1, and performs differential calculation on D0 and D1, which can accurately calculate the distance between the crane and the lifting object, thereby greatly improving the positioning of the working target. Accuracy, accuracy up to 1 ⁇ 2cm.
  • the crane solving unit 904 is further configured to determine the boom extension length and the boom pitch angle according to the relative coordinate information R1 of the first rover 902 and the relative coordinate information R2 of the second rover 903. After the angle of rotation of the boom, determining whether the boom extension length, the boom pitch angle, and the boom rotation angle are within a predetermined lifting height range, the boom pitch angle range, and the boom rotation angle range; When the extension length, the boom pitch angle and the boom rotation angle are not within the predetermined lifting height range, the boom pitch angle range, and the boom rotation angle range, the alarm information is output; and the boom extension length and the boom pitch angle are And when the boom rotation angle is within a predetermined lifting height range, the boom pitch angle range, and the boom rotation angle range, instructing the crane controller 905 to perform the boom extension length, the boom pitch angle, and the boom rotation angle according to the boom extension angle range. Controlling the operation of the boom by lifting the boom to the suspended position of the object to be lifted.
  • the solving unit will output an alarm message when the solving unit acquires a value outside the set constraint or the crane itself cannot move to the lifting position of the station A. This makes it possible to avoid crane failures and automatically reminds the operator that the crane itself cannot move to the lifting position of station A.
  • the crane solving unit 904 may include a first solving module 9041 and a second solving module 9042, wherein:
  • the first solving module 9041 is configured to determine the boom extension length and the boom pitch angle according to the relative coordinate information R1 of the first rover 902.
  • the second solving module 9042 is configured to determine the boom rotation angle according to the relative coordinate information R1 of the first rover 902 and the relative coordinate information R2 of the second rover 903.
  • the above embodiment of the present invention fixes the base station at the center of the rotary shaft of the crane, and can avoid motion planning errors (boom extension length, pitch angle) due to large errors in the measurement of the vehicle body direction.
  • a second rover (station B) is installed at the front of the crane to assist in locating the head angle to determine the angle of rotation. Therefore, in the case where the vehicle body direction measurement error is large, it is only necessary to adjust the swing angle during actual operation.
  • the crane controller 905 may include a first identification module 9051, a second identification module 9052, a third identification module 9053, and an execution module 9054, wherein:
  • the first identification module 9051 is configured to determine whether the current boom pitch angle collected by the main arm angle sensor is within a predetermined boom pitch angle range.
  • the second identification module 9052 is configured to determine, according to the determination result of the first identification module, whether the current swing angle collected by the swing angle encoder is determined to be at a predetermined boom when the current boom pitch angle is within a predetermined boom pitch angle range. Within the range of angles.
  • the third identification module 9053 is configured to determine, according to the determination result of the second identification module, whether the current telescopic length is within the predetermined boom extension length when the current rotation angle is within a predetermined boom rotation angle range.
  • the executing module 9054 is configured to: according to the determination result of the first identification module, when the current boom pitch angle is not within the predetermined boom pitch angle range, perform an amplitude change to adjust the current boom pitch angle to a predetermined boom pitch angle range According to the second identification module As a result of the judgment, when the current swing angle is not within the predetermined boom rotation angle range, the boom is rotated to adjust the current swing angle to the predetermined boom rotation angle range; according to the judgment result of the third identification module, the current stretch length When not within the predetermined boom extension length, the boom is telescoped to adjust the current telescoping length to a predetermined boom extension length and to lift the suspended object when the current telescoping length is within the predetermined boom extension length.
  • the above embodiment of the present invention selects the crane settlement unit to calculate according to the position information collected by the receiver, and the crane controller determines the lifting height, the pitch height of the boom, the extension length of the boom, etc. to complete the lifting process within the error range set by the user. .
  • the base station 901 is also operative to transmit the known base station 901 precision coordinates d0 to the first rover 902 and the second rover 903.
  • the first rover 902 is further configured to acquire the first rover precision coordinate d1 according to the reference station 901 precision coordinate d0 and the relative coordinate information R1 of the first rover 902, and send it to the crane solving unit 904 to display the first The rover precision coordinates d1.
  • the second rover 903 is further configured to acquire the second rover precision coordinate d2 according to the precision coordinate d0 of the reference station 901 and the relative coordinate information R2 of the second rover 903, and send it to the crane solving unit 904 to display the second The rover precision coordinates d2.
  • the first rover precision coordinate d1 and the second rover precision coordinate d2 can also be determined and displayed by the above-described embodiments of the present invention.
  • the reference station 901 can be used to collect satellite positioning information in real time as the current measured value D0, and determine the correction according to D0 and the known reference station precise coordinate d0.
  • the value k and d0 and k are sent to the first rover 902 and the second rover 903.
  • the first rover 902 can be configured to collect satellite positioning information in real time as the current measured value D1, determine the precise coordinate d1 of the first rover according to D1 and k, determine the relative coordinate information R1 of the first rover according to d0 and d1, and The relative coordinate information R1 and the precise coordinate d1 of the first rover 902 are sent to the crane solving unit 904.
  • the second rover 903 is configured to collect the satellite carrier phase measurement value D2, determine the precise coordinate d2 of the second rover according to D2 and k, determine the relative coordinate information R2 of the second rover according to d0 and d2, and determine the second flow Relative coordinate information R2 of station 903 and precise sitting
  • the target d2 is sent to the crane solving unit 904.
  • the reference station determines the correction value according to the reference station measurement value and the known reference station precision coordinates, and transmits the correction value to the rover, the rover.
  • the rover precision coordinates are determined by the correction value and the rover measurement.
  • FIG. 12 is a schematic view of still another embodiment of a construction machine working target positioning system of the present invention.
  • the base station 901 is connected to the crane solving unit 904, and the first rover 902 and the second rover 903 are not connected to the crane solving unit 904, wherein:
  • the first rover 902 is configured to collect satellite positioning information in real time as the current measured value D1, and send D1 to the reference station.
  • the first rover 903 is configured to collect satellite positioning information in real time as the current measured value D2, and send D2 to the reference station.
  • the base station 901 is configured to collect satellite positioning information in real time as the current measured value D0; perform real-time dynamic differential processing on D0 and D1 to obtain relative coordinate information R1 of the first rover, and determine according to R1 and the known reference station accurate coordinate d0.
  • the precise coordinate d1 of the first rover; real-time dynamic differential processing on D0 and D2 to obtain the relative coordinate information R2 of the second rover, and the exact coordinate d2 of the second rover is determined according to R2 and the known reference station precise coordinate d0 ; Send R1, d1, R2 and d2 to the crane starting unit.
  • the system in the above embodiment of the present invention can realize the construction machine work target positioning method as shown in FIG. 6.
  • the embodiment shown in Fig. 12 differs from the embodiment shown in Fig. 9 mainly in that the steps of obtaining the relative coordinates of the rover and determining the exact coordinates of the rover by real-time dynamic difference calculation are performed by the reference station, thereby reducing the rover to the rover. Performance requirements.
  • the reference station 901 is further configured to acquire satellite positioning information as a current measured value D0 in real time; determine a correction value k according to D0 and a known reference station precise coordinate d0; determine the first flow according to D1 and k
  • the precise coordinate d1 of the station, the relative coordinate information R1 of the first rover is determined according to d1 and d0; the second flow is determined according to D2 and k
  • the precise coordinate d2 of the station determines the relative coordinate information R2 of the second rover according to d2 and d0; and sends R1, d1, R2 and d2 to the crane starting unit.
  • the system in the above embodiment of the present invention can realize the construction machine work target positioning method as shown in FIG.
  • the functional units such as the crane solving unit 904 and the crane controller 905 described above may be implemented as a general purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP) for performing the functions described herein.
  • PLC programmable logic controller
  • DSP digital signal processor
  • a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
  • the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

一种工程机械作业目标定位方法和系统。该方法包括：基准站（901）实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一、第二流动站（902， 903）；第一、第二流动站分别实时采集卫星定位信息作为当前测量值D1、D2，并分别对D0和D1、以及D0和D2进行实时动态差分处理以获得第一、第二流动站的相对坐标信息；起重机解算单元（904）根据第一、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度；起重机控制器（905）根据吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。该系统可以大大提高作业目标的定位精度；还可对吊臂自动跟踪，避免了目测调整带来的误差和风险。

Description

工程机械作业目标定位方法和系统 技术领域
本发明涉及工程机械领域，特别涉及一种工程机械作业目标定位方法和系统。
背景技术
在起重机的施工作业过程中，尤其是远距离吊装时或者越过一定障碍物的作业工况时，由于操作者视觉的误差，无法准确判断被吊物的准确位置。如果被吊物与起重机吊钩在垂直方向上有偏差，会出现“歪拉斜拽”现象造成起重机的损害，甚至造成倾翻事故。
当前对于大型重物的起吊，往往需要经过现场的仔细勘察、测算。事先预估吊臂伸展长度、吊臂俯仰角度等工况。而且在作业现场，还需要通过现场人员指挥调度，凭借操作者的目测及经验完成吊装工作。现场作业，往往需要多人协同，反复调整，增加工作的不确定性和吊装时间。尤其是在夜间、雨雪天气等复杂工况的时候，更增加了现场人员的操作指挥难度。
现有技术中，主要有以下两个缺点：
第一、目标点的无线定位精度低。由于高精度无线定位不开放，仅有民用伪码可供使用，目标点定位精度为10米左右，在计算吊臂伸展长度、吊臂俯仰角度时与实际尺寸误差过大，无法准确判断被吊物的准确位置。如果被吊物与起重机吊钩在垂直方向上有偏差，会出现“歪拉斜拽”现象造成起重机的损害，甚至造成倾翻事故。
第二、吊臂执行动作不明确。现有方案中吊臂的执行动作主要依靠现场人员指挥调度，凭借操作者的目测及经验完成。当远距离吊装或者越过一定障碍物的作业工况时，由于操作者视觉的误差，无法准确判断被吊物的准确位置。起吊高度和起吊角度全凭目测和经验判断增加风险性。
发明内容
鉴于以上技术问题，本发明提供了一种工程机械作业目标定位方法和系统，采用实时动态差分测量方法，可以大大提高作业目标的定位精度。
根据本发明的一个方面，提供一种工程机械作业目标定位方法，包括：
基准站实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一流动站和第二流动站，其中基准站设置在起重机回转轴中心，第一流动站设置在被吊物体起吊位置处，第二流动站设置在起重机车头处；
第一流动站实时采集卫星定位信息作为当前测量值D1，对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息，并将第一流动站的相对坐标信息发送给起重机解算单元；
第二流动站实时采集卫星定位信息作为当前测量值D2，对D0和D2进行实时动态差分处理以获得第二流动站的相对坐标信息，并将第二流动站的相对坐标信息发送给起重机解算单元；
起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度；
起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
在本发明的一个实施例中，在起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度的步骤之后，还包括：
判断所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度是否在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内；
若所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度不在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内，则输出报警信息；
若所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度在预定的起 吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内，则执行起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的步骤。
在本发明的一个实施例中，起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度的步骤包括：
起重机解算单元根据第一流动站的相对坐标信息确定吊臂伸展长度和吊臂俯仰角度；
起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂回转角度。
在本发明的一个实施例中，起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的步骤包括：
在控制吊臂运行到所述被吊物体起吊位置的过程中，判断主臂角度传感器采集到的当前吊臂俯仰角度是否在预定吊臂俯仰角度范围内；
若当前吊臂俯仰角度不在预定吊臂俯仰角度范围内，则进行幅度改变，以便将当前吊臂俯仰角度调整到预定吊臂俯仰角度范围内；
若当前吊臂俯仰角度在预定吊臂俯仰角度范围内，则判断回转角度编码器采集到的当前回转角度判断是否在预定吊臂回转角度范围内；
若当前回转角度不在预定吊臂回转角度范围内，则旋转吊臂，以便将当前回转角度调整到预定吊臂回转角度范围内；
若当前回转角度在预定吊臂回转角度范围内，则判断长度传感器采集到当前伸缩长度是否在预定吊臂伸展长度内；
若当前伸缩长度不在预定吊臂伸展长度内，则伸缩臂架，以便将当前伸缩长度调整到预定吊臂伸展长度范围内；
若当前伸缩长度在预定吊臂伸展长度内，则起吊所述被吊物体。
在本发明的一个实施例中，所述方法还包括：基准站将已知的基 准站精密坐标发送给第一流动站和第二流动站；第一流动站根据基准站精密坐标和第一流动站的相对坐标信息获取第一流动站精密坐标，并发送给起重机解算单元；第二流动站根据基准站精密坐标和第二流动站的相对坐标信息获取第二流动站精密坐标，并发送给起重机解算单元。
根据本发明的另一方面，提供一种工程机械作业目标定位系统，包括基准站、第一流动站、第二流动站、起重机解算单元和起重机控制器，其中基准站设置在起重机回转轴中心，第一流动站设置在被吊物体起吊位置处，第二流动站设置在起重机车头处，其中：
基准站，用于实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一流动站和第二流动站；
第一流动站，用于实时采集卫星定位信息作为当前测量值D1，对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息，并将第一流动站的相对坐标信息发送给起重机解算单元；
第二流动站，用于实时采集卫星定位信息作为当前测量值D2，对D0和D2进行实时动态差分处理以获得第二流动站的相对坐标信息，并将第二流动站的相对坐标信息发送给起重机解算单元；
起重机解算单元，用于根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度；
起重机控制器，用于根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
在本发明的一个实施例中，起重机解算单元还用于在根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度之后，判断所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度是否在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内；在所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度不在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转 角度范围内时，输出报警信息；并在所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内时，指示起重机控制器执行根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的操作。
在本发明的一个实施例中，起重机解算单元包括第一解算模块和第二解算模块，其中：
第一解算模块，用于根据第一流动站的相对坐标信息确定吊臂伸展长度和吊臂俯仰角度；
第二解算模块，用于根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂回转角度。
在本发明的一个实施例中，起重机控制器包括第一识别模块、第二识别模块、第三识别模块、执行模块，其中：
第一识别模块，用于判断主臂角度传感器采集到的当前吊臂俯仰角度是否在预定吊臂俯仰角度范围内；
第二识别模块，用于根据第一识别模块的判断结果，在当前吊臂俯仰角度在预定吊臂俯仰角度范围时，判断回转角度编码器采集到的当前回转角度判断是否在预定吊臂回转角度范围内；
第三识别模块，用于根据第二识别模块的判断结果，在当前回转角度在预定吊臂回转角度范围内时，判断长度传感器采集到当前伸缩长度是否在预定吊臂伸展长度内；
执行模块，用于根据第一识别模块的判断结果，在当前吊臂俯仰角度不在预定吊臂俯仰角度范围内时，进行幅度改变，以便将当前吊臂俯仰角度调整到预定吊臂俯仰角度范围内；根据第二识别模块的判断结果，在当前回转角度不在预定吊臂回转角度范围内时，旋转吊臂，以便将当前回转角度调整到预定吊臂回转角度范围内；根据第三识别模块的判断结果，在当前伸缩长度不在预定吊臂伸展长度内时，伸缩臂架，以便将当前伸缩长度调整到预定吊臂伸展长度范围内，并在当前伸缩长度在预定吊臂伸展长度内时，起吊所述被吊物体。
在本发明的一个实施例中，基准站还用于将已知的基准站精密坐标发送给第一流动站和第二流动站；第一流动站还用于根据基准站精密坐标和第一流动站的相对坐标信息获取第一流动站精密坐标，并发送给起重机解算单元；第二流动站还用于根据基准站精密坐标和第二流动站的相对坐标信息获取第二流动站精密坐标，并发送给起重机解算单元。
本发明通过实时动态差分测量方法，可以大大提高作业目标的定位精度；同时采用吊臂自动跟踪，在起吊过程中可以自动调整起吊高度、吊臂俯仰高度、吊臂伸展长度在预定范围内，避免了目测调整带来的误差和风险。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明工程机械作业目标定位方法一个实施例的示意图。
图2为本发明一个实施例中基准站和流动站的安装示意图。
图3为本发明一个实施例中起重机解算单元确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度的示意图。
图4为本发明一个实施例中起重机控制器控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的示意图。
图5为本发明一个实施例中基准站和流动站确定流动站坐标的示意图。
图6为本发明工程机械作业目标定位方法另一实施例的示意图。
图7为本发明工程机械作业目标定位方法又一实施例的示意图。
图8为本发明工程机械作业目标定位方法再一实施例的示意图。
图9为本发明工程机械作业目标定位系统一个实施例的示意图。
图10为本发明工程机械作业目标定位系统另一实施例的示意图。
图11为本发明一个实施例中起重机控制器的示意图。
图12为本发明工程机械作业目标定位系统又一实施例的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
图1为本发明工程机械作业目标定位方法一个实施例的示意图。优选的，本实施例可由本发明工程机械作业目标定位系统执行，如图1所示，所述方法包括以下步骤：
步骤102，基准站实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一流动站和第二流动站。其中，如图2所示，基准站 设置在起重机回转轴中心，第一流动站设置在被吊物体起吊位置处，第二流动站设置在起重机车头处。
其中，基准站指在用做固定站的仪器，它相对于另一台仪器流动站而言是用脚架架设，固定不动的。作业时需要将一台卫星定位系统接收机安置在参考站(基准站)上进行观测，基准站将已知的测站精密坐标和接收到的卫星信息直接或经过处理后实时发送给流动站接收机(待定点)。流动站是相对基准站而言，流动站接收机在进行GPS观测的同时，也接收到基准站的信息，经过对结果进行改正，从而提高定位精度。
优选的，所述卫星定位数据可以是来自中国北斗卫星导航系统、美国GPS和俄罗斯GLONASS(全球卫星导航系统)、欧洲的伽利略卫星定位系统等卫星导航系统的卫星定位数据。
步骤104，第一流动站实时采集卫星定位信息作为当前测量值D1，对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息R1，并将第一流动站的相对坐标信息R1发送给起重机解算单元。
在本发明的一个实施例中，本发明采用RTK(Real-time kinematic，实时动态差分法)GPS测量方法，确定被测物体(流动站)与基准站的精确相对位置。其中RTK是能够在野外实时得到厘米级定位精度的测量方法。RTK定位技术就是基于载波相位观测值的实时动态定位技术，它能够实时地提供测站点在指定坐标系中的三维定位结果，并达到厘米级精度(和GPS卫星数量、大气电离层、GPS天线增益相关)。
在RTK作业模式下，基准站通过数据链将其观测值(GPS采集值)和测站坐标信息一起传送给流动站。流动站不仅通过数据链接收来自基准站的数据，还要采集GPS观测数据，并在系统内组成差分观测值进行实时处理，同时给出定位结果，历时不足一秒钟。流动站可处于静止状态，也可处于运动状态；可在固定点上先进行初始化后再进入动态作业，也可在动态条件下直接开机，并在动态环境下完成整周模糊度的搜索求解。在整周未知数解固定后，即可进行每个历元的实时处理，只要能保持四颗以上卫星相位观测值的跟踪和必要的几何图形，则流动站可随 时给出厘米级定位结果。
在本发明的一个实施例中，GPS接收机选用双频接收机，可以同时接收两路载波信号。利用双频对电离层延迟的不一样，可以消除电离层对电磁波信号的延迟的影响，因此双频接收机可用于长达几千公里的精密定位。
在本发明的一个实施例中，第一流动站通过无线数传将第一流动站的相对坐标信息R1发送给起重机解算单元。其中，无线数传即无线数据传输，是以无线网络为通信平台，提供标准的RS-232/485/TTL接口，按照工业标准设计，可直接与RTU、PLC、智能仪表、单片机控制器等各种工业现场的下位机设备连接。可以让工业用的RS232/RS485串口设备的串口通信立即转换为GPRS无线网络通信的双向转换数据传输设备。
步骤106，第二流动站实时采集卫星定位信息作为当前测量值D2，对D0和D2进行实时动态差分处理以获得第二流动站的相对坐标信息，并将第二流动站的相对坐标信息R2发送给起重机解算单元。
在本发明的一个实施例中，第二流动站通过CAN总线将第二流动站的相对坐标信息R2发送给起重机解算单元。
步骤108，起重机解算单元根据第一流动站的相对坐标信息R1、第二流动站的相对坐标信息R2确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度。
在本发明的一个实施例中，解算单元可以采用嵌入式处理器，运行实时操作系统。起重机解算单元集成CAN总线控制器、UART串口单元、SPI接口等，可以与基准站直接连接。
步骤110，起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
基于本发明上述实施例提供的工程机械作业目标定位方法，通过RTK(Real-time kinematic，实时动态差分法)测量方法，根据两台以上接收机的观测数据来确定观测点之间的相对位置，即在起重机上安装基准站，把观测值D0发送到起吊物上的接收机，起吊物接收机 采集到位置信息D1，并对D0和D1进行差分计算，可精确地计算出起重机和起吊物的距离，由此可以大大提高作业目标的定位精度，精度可达1～2cm。
在本发明的一个实施例中，如图3所示，步骤108可以包括：
步骤302，起重机解算单元根据第一流动站的相对坐标信息R1确定吊臂伸展长度和吊臂俯仰角度。
优选的，如图2所示，起重机解算单元在获取第一流动站(站A)的相对坐标和起重机当前吊臂朝向角度后，根据用户输入的约束条件(如：起吊高度范围、吊臂俯仰高度范围)计算出合适的吊臂伸展长度和俯仰角度。
步骤304，起重机解算单元根据第一流动站的相对坐标信息R1、第二流动站的相对坐标信息R2确定吊臂回转角度。
优选的，如图2所示，起重机解算单元可以通过定位第一和第二流动站(站A与站B)之间的相对位置坐标，可以确定起重机的回转角度。
本发明的上述实施例将基准站固定于起重机回转轴的圆心处，可以避免因为对车身方向测量的较大误差而引起的运动规划错误(吊臂伸展长度、俯仰角度)。同时，在起重机的车头处安装第二流动站(站B)用于辅助定位车头角度，以确定回转角度。由此，在车身方向测量误差较大的情况下，在实际操作时，只需要调整回转角度即可。
在本发明的一个实施例中，在如图1所示的步骤108之后，所述方法还可以包括：
判断所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度是否在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内；
若所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度不在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内，则输出报警信息；
若所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内，则将所述吊 臂伸展长度、吊臂俯仰角度和吊臂回转角度通过CAN总线发送给起重机控制器，并执行如图1所示的步骤110。
本发明的上述实施例，在解算单元获取值在所设置约束条件外或者起重机本身无法运动到站A的起吊位置，则解算单元将输出报警信息。由此可以避免起重机故障，并可自动提醒操作者起重机本身无法运动到站A的起吊位置。
在本发明的一个实施例中，如图4所示，如图1所示实施例中的步骤110可以包括：
步骤402，在控制吊臂运行到所述被吊物体起吊位置的过程中，判断主臂角度传感器采集到的当前吊臂俯仰角度是否在预定吊臂俯仰角度范围内。若当前吊臂俯仰角度不在预定吊臂俯仰角度范围内，则执行步骤404；否则，若当前吊臂俯仰角度在预定吊臂俯仰角度范围内，则执行步骤406。
优选的，所述预定吊臂俯仰角度范围指的是用户设定的所述吊臂俯仰角度的误差范围，其中所述吊臂俯仰角度是所述起重机解算单元确定。
步骤404，进行幅度改变，之后重复执行步骤402，以便将当前吊臂俯仰角度调整到预定吊臂俯仰角度范围内。
步骤406，判断回转角度编码器采集到的当前回转角度判断是否在预定吊臂回转角度范围内。若当前回转角度不在预定吊臂回转角度范围内，则执行步骤408；否则，若当前回转角度在预定吊臂回转角度范围内，则执行步骤410。
优选的，所述预定回转角度范围指的是用户设定的所述吊臂回转角度的误差范围，其中所述回转角度是所述起重机解算单元确定。
步骤408，旋转吊臂，之后重复执行步骤406，以便将当前回转角度调整到预定吊臂回转角度范围内。
步骤410，判断长度传感器采集到当前伸缩长度是否在预定吊臂伸展长度内。若当前伸缩长度不在预定吊臂伸展长度内，则执行步骤412；否则，若当前伸缩长度在预定吊臂伸展长度内，则执行步骤414。
优选的，所述预定吊臂伸展长度范围指的是用户设定的所述吊臂伸展长度的误差范围，其中所述吊臂伸展长度是所述起重机解算单元确定。
步骤412，伸缩臂架，以便将当前伸缩长度调整到预定吊臂伸展长度范围内，之后不再执行本实施例的其它步骤。
步骤414，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
本发明上述实施例选用起重机结算单元根据接收机采集到的位置信息进行计算，同时起重机控制器在用户设定的误差范围内确定起吊高度、吊臂俯仰高度、吊臂伸展长度等来完成起吊过程。
在本发明的一个实施例中，在图1所示的步骤102中，所述方法还可以包括：基准站将已知的基准站精密坐标d0发送给第一流动站和第二流动站。
在图1所示的步骤104中，所述方法还可以包括：第一流动站根据基准站精密坐标d0和第一流动站的相对坐标信息R1获取第一流动站精密坐标d1，并发送给起重机解算单元，以显示所述第一流动站精密坐标d1。
在图1所示的步骤106中，所述方法还可以包括：第二流动站根据基准站精密坐标d0和第二流动站的相对坐标信息R2获取第二流动站精密坐标d2，并发送给起重机解算单元，以显示所述第二流动站精密坐标d2。
通过本发明上述实施例还可以确定和显示第一流动站精密坐标d1和第二流动站精密坐标d2。
图5为本发明一个实施例中基准站和第一流动站确定第一流动站坐标的示意图。如图5所示，所述方法包括：
步骤501，基准站实时采集卫星定位信息作为当前测量值D0。
步骤502，第一流动站实时采集卫星定位信息作为当前测量值D1。
优选的，步骤501和步骤502的顺序可以调换。
步骤503，基准站将D0和已知的基准站精密坐标d0发送给第一 流动站。
步骤504，第一流动站对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息R1。
步骤505，第一流动站根据d0和R1确定第一流动站的精确坐标d1。
步骤506，第一流动站将R1和d1发送给起重机起算单元。
本发明上述实施例中，基准站和第二流动站确定第二流动站坐标的流程图与图5所述的流程相同，这里不再详述。
本发明上述实施例中，第一流动站将R1和d1发送给起重机起算单元，第二流动站将R2和d2发送给起重机起算单元之后执行图1所示实施例中的步骤108和步骤110。
图1-图5所述的实施例中，基准站采集测量值D0并发送给流动站，流动站进行实时动态差分计算获得流动站相对坐标，并确定流动站精确坐标，从而降低了对基准站的性能要求。
图6为本发明工程机械作业目标定位方法另一实施例的示意图。所述方法包括：
步骤601，基准站实时采集卫星定位信息作为当前测量值D0。
步骤602，第一流动站实时采集卫星定位信息作为当前测量值D1。
优选的，步骤601和步骤602的顺序可以调换。
步骤603，第一流动站将D1发送给基准站。
步骤604，基准站对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息R1。
步骤605，基准站根据R1和已知的基准站精确坐标d0确定第一流动站的精确坐标d1。
步骤606，基准站将R1和d1发送给起重机起算单元。
本发明上述实施例中，基准站和第二流动站确定第二流动站坐标的流程图与图6所述的流程相同，这里不再详述。
本发明上述实施例中，第一流动站将R1和d1发送给起重机起算单元，第二流动站将R2和d2发送给起重机起算单元之后执行图1所 示实施例中的步骤108和步骤110。
图6所示的实施例与图5所示的实施例的区别主要在于：实时动态差分计算获得流动站相对坐标以及确定流动站精确坐标的步骤由基准站执行，由此降低了对流动站的性能要求。同时，第一流动站与起重机之间的信号交互只有一次，即步骤603，由此也提高了系统效率。
图7为本发明工程机械作业目标定位方法又一实施例的示意图。所述方法包括：
步骤701，基准站实时采集卫星定位信息作为当前测量值D0。
步骤702，第一流动站实时采集卫星定位信息作为当前测量值D1。
步骤703，基准站根据D0和已知的基准站精密坐标d0确定修正值k。
优选的，步骤702也可以放在步骤701之前，或者放在步骤703之后。
步骤704，基准站将d0和k发送给第一流动站。
步骤705，第一流动站根据D1和k确定第一流动站的精确坐标d1。
步骤706，第一流动站根据d0和d1确定第一流动站的相对坐标信息R1。
步骤707，第一流动站将R1和d1发送给起重机起算单元。
本发明上述实施例中，基准站和第二流动站确定第二流动站坐标的流程图与图7所述的流程相同，这里不再详述。
本发明上述实施例中，第一流动站将R1和d1发送给起重机起算单元，第二流动站将R2和d2发送给起重机起算单元之后执行图1所示实施例中的步骤108和步骤110。
图7所示的实施例与图5所示的实施例类似，其区别主要在于：基准站根据基准站测量值和已知的基准站精密坐标确定修正值，并将修正值发送给流动站，流动站通过修正值和流动站测量值确定流动站精密坐标。
图8为本发明工程机械作业目标定位方法再一实施例的示意图。所 述方法包括：
步骤801，基准站实时采集卫星定位信息作为当前测量值D0。
步骤802，第一流动站实时采集卫星定位信息作为当前测量值D1。
步骤803，基准站根据D0和已知的基准站精密坐标d0确定修正值k。
优选的，步骤802也可以放在步骤801之前，或者放在步骤803之后。
步骤804，第一流动站将D1发送给基准站。
步骤805，基准站根据D1和k确定第一流动站的精确坐标d1。
步骤806，基准站根据d0和d1确定第一流动站的相对坐标信息R1。
步骤807，基准站将R1和d1发送给起重机起算单元。
本发明上述实施例中，基准站和第二流动站确定第二流动站坐标的流程图与图8所述的流程相同，这里不再详述。
本发明上述实施例中，第一流动站将R1和d1发送给起重机起算单元，第二流动站将R2和d2发送给起重机起算单元之后执行图1所示实施例中的步骤108和步骤110。
图8所示的实施例与图7所示的实施例类似，其区别主要在于：实时动态差分计算获得流动站相对坐标以及确定流动站精确坐标的步骤由基准站执行，由此降低了对流动站的性能要求。同时，流动站与起重机之间的信号交互只有一次，即步骤804，由此也提高了系统效率。
图9为本发明工程机械作业目标定位系统一个实施例的示意图。如图9所示，所示工程机械作业目标定位系统包括基准站901、第一流动站902、第二流动站903、起重机解算单元904和起重机控制器905，其中基准站901设置在起重机回转轴中心，第一流动站902设置在被吊物体起吊位置处，第二流动站903设置在起重机车头处，其中：
基准站901，用于实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一流动站902和第二流动站903。
第一流动站902，用于实时采集卫星定位信息作为当前测量值D1， 对D0和D1进行实时动态差分处理以获得第一流动站902的相对坐标信息R1，并将第一流动站902的相对坐标信息R1发送给起重机解算单元904。
第二流动站903，用于采集卫星载波相位测量值D2，对D0和D2进行实时动态差分处理以获得第二流动站903的相对坐标信息R2，并将第二流动站903的相对坐标信息R2发送给起重机解算单元904。
起重机解算单元904，用于根据第一流动站902的相对坐标信息R1、第二流动站903的相对坐标信息R2确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度。
起重机控制器905，用于根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
基于本发明上述实施例提供的工程机械作业目标定位方法，通过RTK测量方法，根据两台以上接收机的观测数据来确定观测点之间的相对位置，即在起重机上安装基准站，把观测值D0发送到起吊物上的接收机，起吊物接收机采集到位置信息D1，并对D0和D1进行差分计算，可精确地计算出起重机和起吊物的距离，由此可以大大提高作业目标的定位精度，精度可达1～2cm。
在本发明的一个实施例中，起重机解算单元904还用于在根据第一流动站902的相对坐标信息R1、第二流动站903的相对坐标信息R2确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度之后，判断所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度是否在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内；在所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度不在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内时，输出报警信息；并在所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内时，指示起重机控制器905执行根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的操作。
本发明的上述实施例，在解算单元获取值在所设置约束条件外或者起重机本身无法运动到站A的起吊位置，则解算单元将输出报警信息。由此可以避免起重机故障，并可自动提醒操作者起重机本身无法运动到站A的起吊位置。
在本发明的一个实施例中，如图10所示，起重机解算单元904可以包括第一解算模块9041和第二解算模块9042，其中：
第一解算模块9041，用于根据第一流动站902的相对坐标信息R1确定吊臂伸展长度和吊臂俯仰角度。
第二解算模块9042，用于根据第一流动站902的相对坐标信息R1、第二流动站903的相对坐标信息R2确定吊臂回转角度。
本发明的上述实施例将基准站固定于起重机回转轴的圆心处，可以避免因为对车身方向测量的较大误差而引起的运动规划错误(吊臂伸展长度、俯仰角度)。同时，在起重机的车头处安装第二流动站(站B)用于辅助定位车头角度，以确定回转角度。由此，在车身方向测量误差较大的情况下，在实际操作时，只需要调整回转角度即可。
在本发明的一个实施例中，如图11所示，起重机控制器905可以包括第一识别模块9051、第二识别模块9052、第三识别模块9053、执行模块9054，其中：
第一识别模块9051，用于判断主臂角度传感器采集到的当前吊臂俯仰角度是否在预定吊臂俯仰角度范围内。
第二识别模块9052，用于根据第一识别模块的判断结果，在当前吊臂俯仰角度在预定吊臂俯仰角度范围时，判断回转角度编码器采集到的当前回转角度判断是否在预定吊臂回转角度范围内。
第三识别模块9053，用于根据第二识别模块的判断结果，在当前回转角度在预定吊臂回转角度范围内时，判断长度传感器采集到当前伸缩长度是否在预定吊臂伸展长度内。
执行模块9054，用于根据第一识别模块的判断结果，在当前吊臂俯仰角度不在预定吊臂俯仰角度范围内时，进行幅度改变，以便将当前吊臂俯仰角度调整到预定吊臂俯仰角度范围内；根据第二识别模块 的判断结果，在当前回转角度不在预定吊臂回转角度范围内时，旋转吊臂，以便将当前回转角度调整到预定吊臂回转角度范围内；根据第三识别模块的判断结果，在当前伸缩长度不在预定吊臂伸展长度内时，伸缩臂架，以便将当前伸缩长度调整到预定吊臂伸展长度范围内，并在当前伸缩长度在预定吊臂伸展长度内时，起吊所述被吊物体。
本发明上述实施例选用起重机结算单元根据接收机采集到的位置信息进行计算，同时起重机控制器在用户设定的误差范围内确定起吊高度、吊臂俯仰高度、吊臂伸展长度等来完成起吊过程。
在本发明的一个实施例中，基准站901还用于将已知的基准站901精密坐标d0发送给第一流动站902和第二流动站903。
第一流动站902还用于根据基准站901精密坐标d0和第一流动站902的相对坐标信息R1获取第一流动站精密坐标d1，并发送给起重机解算单元904，以显示所述第一流动站精密坐标d1。
第二流动站903还用于根据基准站901精密坐标d0和第二流动站903的相对坐标信息R2获取第二流动站精密坐标d2，并发送给起重机解算单元904，以显示所述第二流动站精密坐标d2。
通过本发明上述实施例还可以确定和显示第一流动站精密坐标d1和第二流动站精密坐标d2。
在本发明的一个实施例中，与图7所示的实施例相对应，基准站901，可用于实时采集卫星定位信息作为当前测量值D0，根据D0和已知的基准站精密坐标d0确定修正值k，并将d0和k发送给第一流动站902和第二流动站903。
第一流动站902，可用于实时采集卫星定位信息作为当前测量值D1，根据D1和k确定第一流动站的精确坐标d1，根据d0和d1确定第一流动站的相对坐标信息R1，并将第一流动站902的相对坐标信息R1和精确坐标d1发送给起重机解算单元904。
第二流动站903，可用于采集卫星载波相位测量值D2，根据D2和k确定第二流动站的精确坐标d2，根据d0和d2确定第二流动站的相对坐标信息R2，并将第二流动站903的相对坐标信息R2和精确坐 标d2发送给起重机解算单元904。
本发明上述实施例与图9所示实施例的差别在于，本实施例中基准站根据基准站测量值和已知的基准站精密坐标确定修正值，并将修正值发送给流动站，流动站通过修正值和流动站测量值确定流动站精密坐标。
图12为本发明工程机械作业目标定位系统又一实施例的示意图。与图9所示的实施例相比，基准站901与起重机解算单元904连接，第一流动站902、第二流动站903不与起重机解算单元904连接，其中：
第一流动站902，用于实时采集卫星定位信息作为当前测量值D1，并将D1发送给基准站。
第一流动站903，用于实时采集卫星定位信息作为当前测量值D2，并将D2发送给基准站。
基准站901，用于实时采集卫星定位信息作为当前测量值D0；对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息R1，根据R1和已知的基准站精确坐标d0确定第一流动站的精确坐标d1；对D0和D2进行实时动态差分处理以获得第二流动站的相对坐标信息R2，根据R2和已知的基准站精确坐标d0确定第二流动站的精确坐标d2；将R1、d1、R2和d2发送给起重机起算单元。
本发明的上述实施例中的系统可以实现如图6所示的工程机械作业目标定位方法。
图12所示的实施例中，起重机解算单元904和起重机控制器905的功能域图9所示的实施例类似，这里不再详述。
图12所示的实施例与图9所示的实施例的区别主要在于：实时动态差分计算获得流动站相对坐标以及确定流动站精确坐标的步骤由基准站执行，由此降低了对流动站的性能要求。
在本发明的一个实施例中，基准站901还用于实时采集卫星定位信息作为当前测量值D0；根据D0和已知的基准站精密坐标d0确定修正值k；根据D1和k确定第一流动站的精确坐标d1，根据d1和d0确定第一流动站的相对坐标信息R1；根据D2和k确定第二流动 站的精确坐标d2，根据d2和d0确定第二流动站的相对坐标信息R2；将R1、d1、R2和d2发送给起重机起算单元。
本发明的上述实施例中的系统可以实现如图8所示的工程机械作业目标定位方法。
在上面所描述的起重机解算单元904和起重机控制器905等功能单元可以实现为用于执行本申请所描述功能的通用处理器、可编程逻辑控制器(PLC)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件或者其任意适当组合。
至此，已经详细描述了本发明。为了避免遮蔽本发明的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
本发明的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本发明限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本发明的原理和实际应用，并且使本领域的普通技术人员能够理解本发明从而设计适于特定用途的带有各种修改的各种实施例。

Claims (10)

  1. 一种工程机械作业目标定位方法，其特征在于，包括：
    基准站实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一流动站和第二流动站，其中基准站设置在起重机回转轴中心，第一流动站设置在被吊物体起吊位置处，第二流动站设置在起重机车头处；
    第一流动站实时采集卫星定位信息作为当前测量值D1，对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息，并将第一流动站的相对坐标信息发送给起重机解算单元；
    第二流动站实时采集卫星定位信息作为当前测量值D2，对D0和D2进行实时动态差分处理以获得第二流动站的相对坐标信息，并将第二流动站的相对坐标信息发送给起重机解算单元；
    起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度；
    起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
  2. 根据权利要求1所述的方法，其特征在于，在起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度的步骤之后，还包括：
    判断所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度是否在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内；
    若所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度不在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内，则输出报警信息；
    若所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内，则执行起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控 制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的步骤。
  3. 根据权利要求1所述的方法，其特征在于，起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度的步骤包括：
    起重机解算单元根据第一流动站的相对坐标信息确定吊臂伸展长度和吊臂俯仰角度；
    起重机解算单元根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂回转角度。
  4. 根据权利要求1所述的方法，其特征在于，起重机控制器根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的步骤包括：
    在控制吊臂运行到所述被吊物体起吊位置的过程中，判断主臂角度传感器采集到的当前吊臂俯仰角度是否在预定吊臂俯仰角度范围内；
    若当前吊臂俯仰角度不在预定吊臂俯仰角度范围内，则进行幅度改变，以便将当前吊臂俯仰角度调整到预定吊臂俯仰角度范围内；
    若当前吊臂俯仰角度在预定吊臂俯仰角度范围内，则判断回转角度编码器采集到的当前回转角度判断是否在预定吊臂回转角度范围内；
    若当前回转角度不在预定吊臂回转角度范围内，则旋转吊臂，以便将当前回转角度调整到预定吊臂回转角度范围内；
    若当前回转角度在预定吊臂回转角度范围内，则判断长度传感器采集到当前伸缩长度是否在预定吊臂伸展长度内；
    若当前伸缩长度不在预定吊臂伸展长度内，则伸缩臂架，以便将当前伸缩长度调整到预定吊臂伸展长度范围内；
    若当前伸缩长度在预定吊臂伸展长度内，则起吊所述被吊物体。
  5. 根据权利要求1所述的方法，其特征在于，还包括：
    基准站将已知的基准站精密坐标发送给第一流动站和第二流动站；
    第一流动站根据基准站精密坐标和第一流动站的相对坐标信息获取第一流动站精密坐标，并发送给起重机解算单元；
    第二流动站根据基准站精密坐标和第二流动站的相对坐标信息获取第二流动站精密坐标，并发送给起重机解算单元。
  6. 一种工程机械作业目标定位系统，其特征在于，包括基准站、第一流动站、第二流动站、起重机解算单元和起重机控制器，其中基准站设置在起重机回转轴中心，第一流动站设置在被吊物体起吊位置处，第二流动站设置在起重机车头处，其中：
    基准站，用于实时采集卫星定位信息作为当前测量值D0，并将D0发送给第一流动站和第二流动站；
    第一流动站，用于实时采集卫星定位信息作为当前测量值D1，对D0和D1进行实时动态差分处理以获得第一流动站的相对坐标信息，并将第一流动站的相对坐标信息发送给起重机解算单元；
    第二流动站，用于实时采集卫星定位信息作为当前测量值D2，对D0和D2进行实时动态差分处理以获得第二流动站的相对坐标信息，并将第二流动站的相对坐标信息发送给起重机解算单元；
    起重机解算单元，用于根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度；
    起重机控制器，用于根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体。
  7. 根据权利要求6所述的系统，其特征在于，
    起重机解算单元还用于在根据第一流动站的相对坐标信息、第二 流动站的相对坐标信息确定吊臂伸展长度、吊臂俯仰角度和吊臂回转角度之后，判断所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度是否在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内；在所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度不在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内时，输出报警信息；并在所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度在预定的起吊高度范围、吊臂俯仰角度范围、吊臂回转角度范围内时，指示起重机控制器执行根据所述吊臂伸展长度、吊臂俯仰角度和吊臂回转角度，控制吊臂运行到所述被吊物体起吊位置起吊所述被吊物体的操作。
  8. 根据权利要求6所述的系统，其特征在于，起重机解算单元包括第一解算模块和第二解算模块，其中：
    第一解算模块，用于根据第一流动站的相对坐标信息确定吊臂伸展长度和吊臂俯仰角度；
    第二解算模块，用于根据第一流动站的相对坐标信息、第二流动站的相对坐标信息确定吊臂回转角度。
  9. 根据权利要求6所述的系统，其特征在于，起重机控制器包括第一识别模块、第二识别模块、第三识别模块、执行模块，其中：
    第一识别模块，用于判断主臂角度传感器采集到的当前吊臂俯仰角度是否在预定吊臂俯仰角度范围内；
    第二识别模块，用于根据第一识别模块的判断结果，在当前吊臂俯仰角度在预定吊臂俯仰角度范围时，判断回转角度编码器采集到的当前回转角度判断是否在预定吊臂回转角度范围内；
    第三识别模块，用于根据第二识别模块的判断结果，在当前回转角度在预定吊臂回转角度范围内时，判断长度传感器采集到当前伸缩长度是否在预定吊臂伸展长度内；
    执行模块，用于根据第一识别模块的判断结果，在当前吊臂俯仰角度不在预定吊臂俯仰角度范围内时，进行幅度改变，以便将当前吊 臂俯仰角度调整到预定吊臂俯仰角度范围内；根据第二识别模块的判断结果，在当前回转角度不在预定吊臂回转角度范围内时，旋转吊臂，以便将当前回转角度调整到预定吊臂回转角度范围内；根据第三识别模块的判断结果，在当前伸缩长度不在预定吊臂伸展长度内时，伸缩臂架，以便将当前伸缩长度调整到预定吊臂伸展长度范围内，并在当前伸缩长度在预定吊臂伸展长度内时，起吊所述被吊物体。
  10. 根据权利要求6所述的系统，其特征在于，
    基准站还用于将已知的基准站精密坐标发送给第一流动站和第二流动站；
    第一流动站还用于根据基准站精密坐标和第一流动站的相对坐标信息获取第一流动站精密坐标，并发送给起重机解算单元；
    第二流动站还用于根据基准站精密坐标和第二流动站的相对坐标信息获取第二流动站精密坐标，并发送给起重机解算单元。
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