# US 2017/0283223 A1 · Method and System for Positioning Engineering Machinery Work Objects

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- Number: US 2017/0283223 A1
- Document ID: US20170283223A1
- Status: Published application
- Kind: A1
- Application number: 15/507,931
- Filed: 2014-09-05
- Published: 2017-10-05
- Earliest claimed: 2014-09-05
- Assignees: Xuzhou Heavy Machinery Co., Ltd.
- Applicants: Xuzhou Heavy Machinery Co. Ltd.
- Inventors: Zenghai Shan; Changjian ZHU; Zhongxiang ZHAO; Quan Li; Maofeng Zhu
- Web page: https://patentgrep.com/patent/US20170283223A1

## CPC

- B66C 13/46: Position indicators for suspended loads or for crane elements
- B66C 13/40: Applications of devices for transmitting control pulses; Applications of remote control devices (control in general G05)
- B66C 13/48: Automatic control of crane drives for producing a single or repeated working cycle; Program control
- G01S 19/41: Differential correction, e.g. DGPS [differential GPS]
- B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21)
- 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

## Abstract

The present disclosure discloses a method and system for positioning an engineering machinery work object. The method comprises: a reference station collects in real time satellite positioning information as a reference station current measurement value D0, and transmits D0 to first and second mobile stations; the first mobile station and the second mobile station respectively collect in real time satellite positioning information as a first mobile station current measurement value D1 and a second mobile station current measurement value D2, and respectively perform dynamic differential processes on D0 and D1 and D0 and D2 to obtain relative coordinate information of the first mobile station and the second mobile station; a crane resolving unit determines the boom extension length, the boom pitch angle and boom rotating angle based on the relative coordinate information of the first mobile station and the second mobile station; based on the boom extension length, the boom pitch angle and the boom rotating angle, a crane controller controls the boom to move to a hoisting position of the object to hoist the object. The present disclosure can greatly increase the precision of positioning the work object, and can also automatically track the boom to avoid errors and risks resulting from visual adjustment.

## Claims

### Claim 1

A method for positioning an engineering machinery work object, comprising:
collecting 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;
collecting 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;
collecting 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;
determining, 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
controlling, 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.

### Claim 2 (depends on 1)

The method according to claim 1, after the step of determining, by the crane resolving unit, 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, further comprising:
determining whether the boom extension length, the boom pitch angle and the boom rotating angle are within respective predetermined ranges of hoisting height, boom pitch angle and boom rotating angle;
if it is determined that the boom extension length, the boom pitch angle and the boom rotating angle are not within the respective predetermined ranges of hoisting height, boom pitch angle and boom rotating angle, outputting alarm information;
if it is determined that the boom extension length, the boom pitch angle and the boom rotating angle are within the respective predetermined ranges of hoisting height, boom pitch angle and boom rotating angle, controlling, by the crane controller, 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.

### Claim 3 (depends on 1)

The method according to claim 1, wherein, the step of determining, by the crane resolving unit, 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 comprises:
determining, by the crane resolving unit, the boom extension length and the boom pitch angle based on the relative coordinate information of the first mobile station;
determining, by the crane resolving unit, 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.

### Claim 4 (depends on 1)

The method according to claim 1, wherein, the step of controlling, by the crane controller, 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 comprises:
during the process of controlling the boom to move to the hoisting position of the object, determining whether current boom pitch angle collected by a main arm angle sensor is within a predetermined range of boom pitch angle;
if the current boom pitch angle is not within the predetermined range of boom pitch angle, modifying the amplitude so as to adjust the current boom pitch angle to one angle within the predetermined range of boom pitch angle;
if the current boom pitch angle is within the predetermined range of boom pitch angle, determining whether current rotating angle collected by a rotating angle encoder is within the predetermined range of boom rotating angle;
if the current rotating angle is not within a predetermined range of boom rotating angle, rotating the boom so as to adjust the current rotating angle to one angle within the predetermined range of boom rotating angle;
if the current rotating angle is within the predetermined range of boom rotating angle, determining whether current extension length collected by a length sensor is within the predetermined range of boom extension length;
if the current extension length is not within a predetermined range of boom extension length, extending the boom frame so as to adjust the current extension length to one length within the predetermined range of boom extension length;
if the current extension length is within the predetermined range of boom extension length, hoisting the object.

### Claim 5 (depends on 1)

The method according to claim 1, further comprising:
transmitting, by the reference station, a known precise coordinate of the reference station to the first mobile station and the second mobile station;
the first mobile station acquiring a precise coordinate of the first mobile station based on the known precise coordinate of the reference station and the relative coordinate information of the first mobile station, and transmitting the precise coordinate of the first mobile station to the crane resolving unit;
the second mobile station acquiring a precise coordinate of second mobile station based on the known precise coordinate of the reference station and the relative coordinate information of the second mobile station, and transmitting the precise coordinate of second mobile station to the crane resolving unit.

### Claim 6

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.

### Claim 7 (depends on 6)

The system according to claim 6, wherein,
the crane resolving unit is further used for determining whether the boom extension length, the boom pitch angle and the boom rotating angle are respectively within predetermined ranges of hoisting height, boom pitch angle and boom rotating angle; if the boom extension length, the boom pitch angle and the boom rotating angle are not within the predetermined ranges of hoisting height, boom pitch angle and boom rotating angle, outputting alarm information; and if the boom extension length, the boom pitch angle and the boom rotating angle are respectively within the predetermined ranges of hoisting height, boom pitch angle and boom rotating angle, instructing the crane controller to execute an operation of controlling the boom to move to the hoisting position of the object and hoist the object based on the boom extension length, the boom pitch angle and the boom rotating angle.

### Claim 8 (depends on 6)

The system according to claim 6, wherein the crane resolving unit comprises a first resolving module and a second resolving module, wherein:
the first resolving module is used for determining the boom extension length and the boom pitch angle based on the relative coordinate information of the first mobile station;
the second resolving module is used for determining 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.

### Claim 9 (depends on 6)

The system according to claim 6, wherein, the crane controller comprises a first identification module, a second identification module, a third identification module and an execution module, wherein:
the first identification module is used for identifying whether the current boom pitch angle collected by a main arm angle sensor is within the predetermined range of boom pitch angle;
the second identification module is used for identifying whether the current rotating angle collected by a rotating angle encoder is within the predetermined range of boom rotating angle in case that the first identification module identifies that the current boom pitch angle is within the predetermined range of boom pitch angle;
the third identification module is used for identifying whether the current extension length collected by a length sensor is within the predetermined range of boom extension length in case that the second identification module identifies that the current rotating angle collected by a rotating angle encoder is within the predetermined range of boom rotating angle;
the execution module is used for modifying the amplitude so as to adjust the current boom pitch angle to one angle within the predetermined range of boom pitch angle in case that the first identification module identifies that the current boom pitch angle is not within the predetermined rang of boom pitch angle; rotating the boom so as to adjust the current rotating angle to one angle within the range of boom rotating angle in case that the second identification module identifies that the current rotating angle is not within the predetermined range of boom rotating angle; and extending the boom frame so as to adjust the current extension length to one length within the predetermined range of boom extension length in case that the third identification module identifies that the current extension length is not within the predetermined range of boom extension length and hoisting the object in case that the third identification module identifies that the current extension length is within the predetermined range of boom extension length.

### Claim 10 (depends on 6)

The system according to claim 6, wherein, the reference station is further used for transmitting a known precise coordinate of the reference station to the first mobile station and the second mobile station;
the first mobile station is further used for acquiring a precise coordinate of the first mobile station based on the known precise coordinate of the reference station and the relative coordinate information of the first mobile station, and transmitting the precise coordinate of the first mobile station to the crane resolving unit;
the second mobile station is further used for acquiring a precise coordinate of second mobile station based on the known precise coordinate of the reference station and the relative coordinate information of the second mobile station, and transmitting the precise coordinate of second mobile station to the crane resolving unit.

### Claim 11

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.

### Claim 12 (depends on 11)

The computer program product according to claim 11, wherein, the computer-readable program code further comprises:
computer readable program code that is configured to determine whether the boom extension length, the boom pitch angle and the boom rotating angle are within respective predetermined ranges of hoisting height, boom pitch angle and boom rotating angle;
computer readable program code that is configured to output alarm information if it is determined that the boom extension length, the boom pitch angle and the boom rotating angle are not within the respective predetermined ranges of hoisting height, boom pitch angle and boom rotating angle;
computer readable program code that is configured to control, by the crane controller, 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, if it is determined that the boom extension length, the boom pitch angle and the boom rotating angle are within the respective predetermined ranges of hoisting height, boom pitch angle and boom rotating angle.

### Claim 13 (depends on 11)

The computer program product according to claim 11, wherein, the computer readable program code configured to determine, by the crane resolving unit, 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 comprises:
computer readable program code that is configured to determine, by the crane resolving unit, the boom extension length and the boom pitch angle based on the relative coordinate information of the first mobile station;
computer readable program code that is configured to determine, by the crane resolving unit, 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.

### Claim 14 (depends on 11)

The computer program product according to claim 11, wherein, computer readable program code configured to control, by the crane controller, 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 comprises:
computer readable program code that is configured to determine whether current boom pitch angle collected by a main arm angle sensor is within a predetermined range of boom pitch angle during the process of controlling the boom to move to the hoisting position of the object;
computer readable program code that is configured to modify the amplitude so as to adjust the current boom pitch angle to one angle within the predetermined range of boom pitch angle if the current boom pitch angle is not within the predetermined range of boom pitch angle;
computer readable program code that is configured to determine whether current rotating angle collected by a rotating angle encoder is within the predetermined range of boom rotating angle if the current boom pitch angle is within the predetermined range of boom pitch angle;
computer readable program code that is configured to rotate the boom, by a crane controller, so as to adjust the current rotating angle to one angle within the predetermined range of boom rotating angle if the current rotating angle is not within a predetermined range of boom rotating angle;
computer readable program code that is configured to determine whether current extension length collected by a length sensor is within the predetermined range of boom extension length if the current rotating angle is within the predetermined range of boom rotating angle;
computer readable program code that is configured to extend the boom frame, by a crane controller, so as to adjust the current extension length to one length within the predetermined range of boom extension length if the current extension length is not within a predetermined range of boom extension length; and
computer readable program code that is configured to hoist the object, by a crane controller, if the current extension length is within the predetermined range of boom extension length.

### Claim 15 (depends on 11)

The computer program product according to claim 11, wherein, the computer-readable program code further comprises:
computer readable program code that is configured to transmit, by the reference station, a known precise coordinate of the reference station to the first mobile station and the second mobile station;
computer readable program code that is configured to acquire, by the first mobile station, a precise coordinate of the first mobile station based on the known precise coordinate of the reference station and the relative coordinate information of the first mobile station, and transmitting the precise coordinate of the first mobile station to the crane resolving unit;
computer readable program code that is configured to acquire, by the second mobile station, a precise coordinate of second mobile station based on the known precise coordinate of the reference station and the relative coordinate information of the second mobile station, and transmitting the precise coordinate of second mobile station to the crane resolving unit.