The invention discloses a tire crane deviation rectification control method and device based on GNSS differential positioning and a readable medium. The tire crane deviation rectification control method comprises the steps that GNSS signals are collected in real time through a GNSS signal receiving antenna of a tire suspended ceiling part; the current wheel offset distance and the current offset angle of the tire crane are obtained according to the lane line track map and the GNSS signal; in response to the fact that the absolute value of the current wheel deviation distance or the absolute value of the current deviation angle is larger than zero, setting a first deviation correction amount and starting a control period, and obtaining the variation of the wheel deviation distance and the variation of the deviation angle in the running process of the tire crane according to the first deviation correction amount; according to the average value of the variable quantity of the deviation angle, calculating the time required when the tire crane moves to 0 degree from the current deviation angle in the process of driving at the first deviation correction quantity, and calculating the predicted value of the wheel deviation distance in the process of driving at the first deviation correction quantity in the time, so as to determine whether to drive at a second deviation correction quantity, and the operation safety and the operation efficiency of the equipment are improved.
本发明公开了一种基于GNSS差分定位的轮胎吊纠偏控制方法、装置及可读介质,通过轮胎吊顶部的GNSS信号接收天线实时采集GNSS信号;根据车道线轨迹地图和GNSS信号获取轮胎吊的当前的车轮偏移距离和当前的偏移角度;响应于确定当前的车轮偏移距离的绝对值或者当前的偏移角度的绝对值大于零,设定第一纠偏量并开启控制周期,获取轮胎吊以第一纠偏量行驶的过程中车轮偏移距离的变化量以及偏移角度的变化量;根据偏移角度的变化量的平均值计算轮胎吊以第一纠偏量行驶的过程中从当前的偏移角度移动至0°时所需要的时间,并计算该时间内轮胎吊以第一纠偏量行驶的过程中的车轮偏移距离的预测值,以确定是否以第二纠偏量行驶,提高设备运行的安全性和作业效率。
Tire crane deviation correction control method and device based on GNSS differential positioning and readable medium
基于GNSS差分定位的轮胎吊纠偏控制方法、装置及可读介质
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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