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A platform for research: civil engineering, architecture and urbanism
Intelligent cooperative positioning system for water surface transportation and vertical hoisting of components on bridge
The invention discloses an intelligent cooperative positioning system for water surface transportation and vertical hoisting of bridge components. The intelligent cooperative positioning system comprises a positioning system, a control system, a hoisting system, a power system, a floating transportation system and a display system, the positioning system comprises a Beidou differential positioning system, a Beidou positioning terminal, an IMU (inertial measurement unit) and a Beidou ground base station. The control system comprises a PID (Proportion Integration Differentiation) controller, the actual value of the position of the floating ship is identified and compared with the expected value of the position, the response of the system is corrected by utilizing the deviation between the actual value of the position and the expected value, and the position is adjusted and controlled; the hoisting system comprises hoisting equipment installed on a bridge floor, and components below the bridge floor are vertically lifted through lifting hooks. The power system comprises a winch and an underwater propeller; the floating transportation system is used for transporting components on the water surface; automatic and intelligent water surface transportation of the component can be achieved, the position is dynamically corrected, accurate positioning is achieved, and vertical hoisting and hoisting safety of the component are guaranteed.
一种桥上构件水面运输和垂直吊装用智能协同定位系统，包括定位系统、控制系统、吊装系统、动力系统、浮运系统和显示系统；所述定位系统包括北斗差分定位系统、北斗定位终端、IMU惯性测量单元和北斗地面基准站；控制系统包括PID控制器，通过识别浮运船位置的实际值并与位置期望值进行比较，利用位置的实际值与期望值的偏差来纠正系统的响应，进行位置的调节控制；吊装系统包括安装在桥面上的吊装设备，通过吊钩将桥面以下的构件竖向提升；动力系统包括卷扬机和水下推进器；浮运系统用于在水面上运输构件；本发明可以实现构件的自动化、智能化水面运输，并对位置进行动态修正，实现精准定位，确保构件垂直起吊和吊装安全。
Intelligent cooperative positioning system for water surface transportation and vertical hoisting of components on bridge
The invention discloses an intelligent cooperative positioning system for water surface transportation and vertical hoisting of bridge components. The intelligent cooperative positioning system comprises a positioning system, a control system, a hoisting system, a power system, a floating transportation system and a display system, the positioning system comprises a Beidou differential positioning system, a Beidou positioning terminal, an IMU (inertial measurement unit) and a Beidou ground base station. The control system comprises a PID (Proportion Integration Differentiation) controller, the actual value of the position of the floating ship is identified and compared with the expected value of the position, the response of the system is corrected by utilizing the deviation between the actual value of the position and the expected value, and the position is adjusted and controlled; the hoisting system comprises hoisting equipment installed on a bridge floor, and components below the bridge floor are vertically lifted through lifting hooks. The power system comprises a winch and an underwater propeller; the floating transportation system is used for transporting components on the water surface; automatic and intelligent water surface transportation of the component can be achieved, the position is dynamically corrected, accurate positioning is achieved, and vertical hoisting and hoisting safety of the component are guaranteed.
一种桥上构件水面运输和垂直吊装用智能协同定位系统，包括定位系统、控制系统、吊装系统、动力系统、浮运系统和显示系统；所述定位系统包括北斗差分定位系统、北斗定位终端、IMU惯性测量单元和北斗地面基准站；控制系统包括PID控制器，通过识别浮运船位置的实际值并与位置期望值进行比较，利用位置的实际值与期望值的偏差来纠正系统的响应，进行位置的调节控制；吊装系统包括安装在桥面上的吊装设备，通过吊钩将桥面以下的构件竖向提升；动力系统包括卷扬机和水下推进器；浮运系统用于在水面上运输构件；本发明可以实现构件的自动化、智能化水面运输，并对位置进行动态修正，实现精准定位，确保构件垂直起吊和吊装安全。
Intelligent cooperative positioning system for water surface transportation and vertical hoisting of components on bridge
桥上构件水面运输和垂直吊装用智能协同定位系统
ZHANG KUNQIU (author) / LI ZHIGANG (author) / LI CHENGUANG (author) / GENG JIAQING (author) / LUO GUANG (author) / YAO QINGYUN (author)
2022-07-22
Patent
Electronic Resource
Chinese
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