Method and System for Positioning Engineering Machinery Work Objects

An engineering machinery work object positioning system comprising a reference station, a first mobile station, a second mobile station, a crane resolving unit and a crane controller, wherein the reference station is disposed at the center of the crane rotating shaft, the first mobile station is disposed at the hoisting position of the object, and the second mobile station is disposed at the vehicle head of the crane, wherein:

• the reference station is used for collecting in real time satellite positioning information as a reference station current measurement value D0, and transmitting D0 to the first mobile station and the second mobile station;
• the first mobile station is used for collecting in real time satellite positioning information as a first mobile station current measurement value D1, performing real-time kinematic processes on D0 and D1 to obtain relative coordinate information of the first mobile station, and transmitting the relative coordinate information of the first mobile station to the crane resolving unit;
• the second mobile station is used for collecting in real time satellite positioning information as a second mobile station current measurement value D2, performing real-time kinematic processes on D0 and D2 to obtain relative coordinate information of the second mobile station, and transmitting the relative coordinate information of the second mobile station to the crane resolving unit;
• the crane resolving unit is used for determining the boom extension length, the boom pitch angle and the boom rotating angle based on the relative coordinate information of the first mobile station and the relative coordinate information of the second mobile station;
• the crane controller is used for controlling based on the boom extension length, the boom pitch angle and the boom rotating angle, the boom to move to the hoisting position of the object to hoist the object.

A computer program product for positioning an engineering machinery work object, the computer program product comprising a non-transient computer usable storage medium having computer-readable program code embodied in the medium, the computer-readable program code comprising:

• computer readable program code that is configured to collect in real time, by a reference station, satellite positioning information as a reference station current measurement value D0, and transmitting D0 to a first mobile station and a second mobile station, wherein the reference station is disposed at a rotating shaft center of the crane, the first mobile station is disposed at a hoisting position of a hoisted object, and the second mobile station is disposed at a vehicle head of the crane;
• computer readable program code that is configured to collect in real time, by the first mobile station, satellite positioning information as a first mobile station current measurement value D1, performing real-time kinematic processes on D0 and D1 to obtain relative coordinate information of the first mobile station, and transmitting the relative coordinate information of the first mobile station to a crane resolving unit;
• computer readable program code that is configured to collect in real time, by the second mobile station, satellite positioning information as a second mobile station current measurement value D2, performing real-time kinematic processes on D0 and D2 to obtain relative coordinate information of the second mobile station, and transmitting the relative coordinate information of the second mobile station to the crane resolving unit;
• computer readable program code that is configured to determine, by the crane resolving unit, a boom extension length, a boom pitch angle and a boom rotating angle based on the relative coordinate information of the first mobile station and the relative coordinate information of the second mobile station;
• and
• computer readable program code that is configured to control, by a crane controller, based on the boom extension length, the boom pitch angle and the boom rotating angle, a boom to move to the hoisting position of the object to hoist the object.