基于DGPS的港口大型移动设备管理系统设计

发布时间：2018-03-11 06:46

本文选题：大型移动设备　切入点：DGPS　出处：《燕山大学》2014年硕士论文　论文类型：学位论文

【摘要】：堆料机和取料机是一种高效装卸散料的大型移动设备，主要用于港口或者矿山等资源较为密集的场合，对于提升整个港口、矿山的运输效率起到了重要作用。但是一个堆场通常存在多个堆料机和取料机同时作业的情况，传统的堆垛、验垛方式都是通过人工对讲的方式完成，效率低下，由于行走打滑导致基于编码器的大机位置时有不准的情况，导致相邻堆料机和取料机的碰撞故障也时有发生。基于此，本文针对秦皇岛港九公司的6台堆料机和8台取料机，设计了一种基于DGPS(伪距差分定位系统)的港口大型移动设备管理系统。首先，针对公司现场设备情况进行调研分析，结合当前GPS技术的发展与应用，提出一种基于基站-移动站的DGPS的测量方案，通过在固定点设置基站GPS接收机，在大机上固定部分与回转大臂上各设置移动站GPS接收机，完成单机行走与回转的DGPS精确测量，利用公司现有的控制网，将各台大机的位置信息实时发送到后台服务器，完成对大型移动设备的实时定位与管理功能。其次，完成基站和移动站GPS接收机的硬件电路设计。采用ST(意法半导体)公司基于Cortex-M3内核的32位ARM芯片STM32F103VET6作为主控制器，采用工业级ENC28J60芯片作为以太网控制器，结合加拿大诺瓦泰公司生产的高精度OEMV-1G-1HZ型号的GPS板卡，完成基站和移动站的硬件部分设计。最后，利用Visual C++6.0可视化编程工具，开发GPS数据采集与解析程序，完成大型移动设备相关数据信息的计算并写入到SQL Server2008数据库中，，并设计了防碰撞预警策略，实现大机碰撞预警与联动。利用西门子WinCC组态软件，开发可视化上位机系统，采用B/S的构架，实现局域网内任何一台客户端均可以通过浏览器实时监控大机的工作状态，并能进行远程节点的配置、历史数据的回访、远程验垛等功能。该系统已经在秦皇岛港九公司投入运行近1年，大机定位误差范围±1.5m，取得了良好的效果。
[Abstract]:Stowers and pickers are large mobile equipment for loading and unloading bulk materials with high efficiency. They are mainly used in resource-intensive situations such as ports or mines, and for upgrading the entire port. The transportation efficiency of mines plays an important role. However, there are usually multiple stowers and takers working simultaneously in a yard. The traditional stacking and checking methods are done by means of manual communication, and the efficiency is low. Because of the error in the position of the main machine based on encoder due to the walking skidding, the collision fault between the adjacent stacker and the feeder also occurs from time to time. Based on this, this paper aims at six stowers and eight pickers of Qinhuangdao Port & Kowloon Company. A port large mobile equipment management system based on DGPS (pseudo-range differential positioning system) is designed. First of all, based on the investigation and analysis of the company's field equipment, combined with the development and application of the current GPS technology, a DGPS measurement scheme based on the base station and mobile station is proposed, and the base station GPS receiver is set at the fixed point. A mobile station GPS receiver is set up on the fixed part of the large computer and on the rotating arm to complete the accurate measurement of the DGPS of the single machine walking and rotating. The position information of each big computer is sent to the background server in real time by using the existing control network of the company. Complete the real-time positioning and management of large-scale mobile devices. Secondly, the hardware circuit of GPS receiver for base station and mobile station is designed. The 32-bit ARM chip STM32F103VET6 based on Cortex-M3 core is used as the main controller, and the industrial ENC28J60 chip is used as Ethernet controller. The hardware design of base station and mobile station is completed with the high precision OEMV-1G-1HZ GPS card produced by Novatai Company of Canada. Finally, using Visual C 6.0 visual programming tool, the program of GPS data acquisition and analysis is developed, and the relevant data information of large mobile devices is calculated and written into the SQL Server2008 database, and the anti-collision warning strategy is designed. By using Siemens WinCC configuration software, the visual upper computer system is developed, and the B / S structure is adopted to realize that any client in LAN can monitor the working state of the mainframe in real time through browser. And can carry on the remote node configuration, the historical data return visit, the remote check stack and so on function. The system has been put into operation in Qinhuangdao Port & Nine Company for nearly one year. The positioning error range of the mainframe is 卤1.5 m, and good results have been obtained.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U691.5

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