Double-crane coordination control system based on satellite positioning and wireless network communication

The present invention discloses a dual control system for coordinating the crane and positioning satellite based wireless communication network, used for large movements of the bridge box girder and handling, the coordinated control system are provided in the main wheel crane and the crane wheel on the coordinated control system comprises a main wheel crane main crane vehicle control center (1-1), a first wireless communication module (1-2), a first GPS receiver (1-3), the second GPS receiver (1-4), the first wireless receiving module (1-5); from the coordinated control system comprising a wheeled crane (2-1), the second wireless communication module from the crane vehicle control center ( 2-2), a third GPS receiver (2-3), a fourth GPS receiver (2-4), the second wireless receiving module (2-5); positioning the two cranes coordinated control system global positioning system vehicle speed information, and loading the walk mode when the coordinate position and the like, and work in conjunction with the crane, is calculated by the embedded controller determines the position and orientation of the two cranes, and other information for determining the primary yaw control signal and the crane from the crane, which respectively crane vehicle bus interface to the main control (1-1) and (1-2), transmit and receive antennas to the second wireless communication module (2-2) via the wireless communication module and the crane from vehicle control center (2-1), thereby achieving the connected pair and a synchronized travel control two cranes lifting operation.