CN103793569B - The segmentation docking calculation of large hydraulic natural gas storage conveyor module - Google Patents

Abstract

The invention discloses the segmentation docking calculation of large hydraulic natural gas storage conveyor module, it comprises the following steps: two modules to be docked are individually positioned on axis vehicle by (1), then adjusts two axis vehicles to adjust the relative position of to be docked two module；(2) waiting that the sustained height docking two modules sets a coordinate basis point, it is ensured that this coordinate basis point can be taken in two photos during shooting；(3) use photographic equipment two complete images treating interface of shooting, then image is passed to computer；(4) computer accepts to come from the view data of photographic equipment, use computer according to coordinate basis o'clock to two width image rendering rectangular coordinate systems, and two images photographed are respectively adopted method of least square be fitted, comparison, calculate adjustment body and need adjusted value, then output needs the control command of adjusted value to loading the axis vehicle adjusting body, adjusts the state of axis vehicle.This method is used to improve safety.

Description

The segmentation docking calculation of large hydraulic natural gas storage conveyor module

Technical field

The present invention relates to the segmentation docking calculation of module, particularly relate to dividing of large hydraulic natural gas storage conveying module Section docking calculation.

Background technology

Large hydraulic natural gas (LNG) is that compressed intensification, at the work of mix refrigerant by after natural gas purification processing Under with, remove impurity therein, finally give the natural gas of-162 degree liquid forms.At present, International Crude Oil rises, domestic The demand sharp increase of outer natural gas.Characteristic due to LNG itself so that it is increasingly favored by countries in the world.To liquefaction The research tool of natural gas and equipment thereof has very important significance.

Due to the feature that own vol is the highest with precision prescribed so that it must be carried out sub-module and build to ensure module The construction precision of each unit module, meets requirement to the general assembly precision that module is last and lays a good foundation.In practical set process In, owing to large hydraulic natural gas (LNG) storage conveying is with involved critical piece such as pipeline, mostly belong to curved surface, generally There is the features such as complex contour, volume and weight is huge, therefore, digitized dock oneself so become large-sized mechanical components manufacture and One of requisite key link in assembling.

Summary of the invention

It is an object of the invention to overcome the deficiency of prior art, it is provided that one can safety, accurately mobile docking object, Improve the segmentation docking calculation of the large hydraulic natural gas storage conveyor module of merging precision simultaneously.

In order to achieve the above object, the technical solution used in the present invention is:

The segmentation docking calculation of the large hydraulic natural gas storage conveyor module of the present invention, it comprises the following steps:

(1) two modules to be docked are individually positioned on axis vehicle, then adjust two axis vehicles with adjust treat right Two of two modules connect treat the relative position of interface；

(2) set a coordinate basis point respectively at the sustained height waiting to dock two modules, when ensureing shooting simultaneously The coordinate basis point of this respective modules can be taken in by two photos；

(3) use photographic equipment two complete images treating interface of shooting, then image is passed to computer；

(4) computer accepts to come from the view data of photographic equipment, uses computer according to coordinate basis o'clock to two width Image rendering rectangular coordinate system, and two images photographed are respectively adopted method of least square are fitted obtaining two profile diagrams Coordinate basis point use computer is overlapped by sigmoid curves again, and two such fitted figure is in same coordinate system, Then on the basis of one of them contour pattern curve, using another contour pattern curve as adjusting body to two after matching Contour pattern curve is compared, if the comparison error control of two contour pattern curves is in set point, then and computer Output control command is to axis vehicle, it is achieved two docking treating interface of two modules to be docked, if two profile diagrams Sigmoid curves comparison error is outside set point, then computer is according to matrix conversion, sets up the coordinate on image and world coordinate system Relation, calculate adjustment body need adjusted value, then output need adjusted value control command give load adjust body axis vehicle, adjust The state of whole axis vehicle, then repeats described step (3) and (4) until two of two modules to be docked are treated interface Till being docking together exactly.

The invention has the beneficial effects as follows: be possible not only to effectively, accurately the object needing docking moved, also simultaneously It can be made to be docking together with higher precision, improve safety, minimizing accident occurs.

Accompanying drawing explanation

Fig. 1 is that the module docking of the segmentation docking calculation of the large hydraulic natural gas storage conveyor module of this employing invention is shown It is intended to；

Fig. 2 is the process schematic setting up rectangular coordinate system according to datum mark；

Fig. 3 is the complex face schematic diagram needing matching.

Detailed description of the invention

The as shown in drawings segmentation docking calculation of the large hydraulic natural gas storage conveyor module of the present invention, it include with Lower step:

(1) two modules to be docked are individually positioned on axis vehicle 1, then adjust two axis vehicles with adjust treat right Two of two modules connect treat the relative position of interface.

Described axis vehicle is commercially available, and axis vehicle mainly has techniques below feature: axis vehicle uses all-hydraulic suspension type Vehicle frame, independent hydraulic system can control the height of each wheel, local wheel uniform load；The every axle of axis vehicle is equipped with two groups Wheel, often group wheel independently controls to turn to, and completes to advance, retreats, turns to and the action such as rotation；Axis vehicle use one group of four axle or The modularized design of six one group of axles, can carry out arbitrarily laterally or longitudinally combining；Axis vehicle is the highest to ground requirement for bearing capacity, only Wanting reasonable Arrangement, usual prevailing roadway just can meet driving requirements.Due to these advantages so that be easy to change the appearance of docking object State position, the feature having that docking efficiency is high, environmental suitability is strong etc..

(2) set a coordinate basis point respectively at the sustained height waiting to dock two modules 2, when ensureing shooting simultaneously The coordinate basis point of this respective modules can be taken in by two photos；

(3) use photographic equipment 3 to shoot two complete images treating interface, then and by image pass to computer；

If butting surface is clear-cut, then can directly shoot, if unclear, on two mechanical part surfaces especially It is docking measuring surface near zone, pastes a number of feature mark poiX, treat respective shape spy of interface obtaining two Levy.

(4) computer accepts to come from the view data of photographic equipment, uses computer according to coordinate basis o'clock to two width Image rendering rectangular coordinate system, process is as in figure 2 it is shown, and be respectively adopted method of least square to two images photographed and be fitted Obtaining two contour pattern curves, then overlapped by coordinate basis point use computer, two such fitted figure is at In same coordinate system, then on the basis of one of them contour pattern curve, using another contour pattern curve as adjustment Two contour pattern curves after matching are compared by body, if the comparison error control of two contour pattern curves is setting In the range of, then computer export control command is to axis vehicle, it is achieved two docking treating interface of two modules to be docked, If two contour pattern curve comparison errors are outside set point, then computer is according to matrix conversion, sets up the seat on image Mark and the relation of world coordinate system, calculate adjustment body and need adjusted value, and then output needs the control command of adjusted value to adjust to loading Overall axis vehicle, adjusts the state of axis vehicle, then repeats described step (3) and (4) until two moulds to be docked Till two of block treat that interface is docking together exactly.

Using method of least square to be fitted in this step, known another characteristic is generally circular in cross section or oval special Levy.But method for solving is consistent.Concrete solution procedure is:

First pixel is transformed under image coordinate system

$\left\{\begin{array}{c}u=\frac{x}{d_x}+u_0\\ v=\frac{y}{d_y}+v_0\end{array}\right.$

(o, u, v)-image pixel coordinates system,

(o, x, y)-plane of delineation coordinate system,

(u₀,v₀The initial point of)-plane of delineation coordinate system coordinate under image pixel coordinates system.

d_xAnd d_y-each pixel physical length in x-axis and y-axis direction

(1) equation then making ellipse is x²+axy+by²+ cx+dy=e

Deviation δ=x²+axy+by²+cx+dy-e

The sum of squares function of deviation $f(a,b,c,d,e)=\underset{i=1}{\mathrm{\Σ}}{({x_i}^2+{\mathrm{ax}}_i{y}_i+{{\mathrm{by}}_i}^2+{\mathrm{cx}}_i+{\mathrm{dy}}_i-e)}^2$ If thinking elliptic curve Matching best, it is only necessary to makeAn available equation group about x Yu y, from gained To figure in select the point of five nonlinear correlations and bring into wherein, available a, b, c, d, e, i.e. obtain elliptic equation.

(2) if justifying then b=1, thenNeed to select four points to bring into wherein, obtain circle side Journey.Calculate ellipse or the center of circle (x of circle according to formula simultaneously₀,y₀), due to the accuracy meeting of the oval area endpoint detections Have impact on final elliptical center location.Edge difference is carried out the ellipse fitting of more than five times, then it is averaged I.e.

$\left\{\begin{array}{c}{x}_0=\frac{\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{x}_j}{n}\\ y_0=\frac{\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{y}_j}{n}\end{array}\right.$

Each fit solution is uniformly looked on ellipse 10 points bring into Equation, detects it, removes the equation as reality of minimum.Reject the marginal point that deviation is bigger, thereby may be ensured that plan The legal elliptical center coordinate tried to achieve can reach higher positioning precision.

(3) for general feature, the method that piecewise fitting can be used, irregular figure as shown in Figure 3.

In coordinate system OXY, owing to whole contour pattern is irregular, but every part can regard again rule as Straight line and circular curve.So can be with piecewise fitting when of being fitted.

Can first set for straight line and take its curvilinear equation as y=a₀+a₁X, then as choosing three some A, B, C as shown in Figure. A, B be from linear end slightly close to 2 points, and C point is A, B midpoint.Then use the method for minimum quadratic fit by other straight line Equation is obtained.The most once can obtain the equation of another two straight lines.The equation of circle can be asked according to (1) (2) described mode Take.End product is the comprehensive of all equation formulas.

According to matrix conversion in this step, set up on image the detailed process of the relation of Coordinate Conversion in June, 2009 north Capital university of communications Master's thesis " moving object position and attitude measures a systematic study " literary composition is described in detail.

Embodiment 1

(1) two modules to be docked are individually positioned on axis vehicle, then adjust two axis vehicles with adjust treat right Two of two modules connect treat the relative position of interface；

(2) set a coordinate basis point respectively at the sustained height waiting to dock two modules, when ensureing shooting simultaneously The coordinate basis point of respective modules can be taken in by two photos；

(3) use photographic equipment two complete images treating interface of shooting, then image is passed to computer；

(4) computer accepts to come from the view data of photographic equipment, uses computer according to coordinate basis o'clock to two width Image rendering rectangular coordinate system, and two images photographed are respectively adopted method of least square are fitted obtaining two profile diagrams Sigmoid curves, then coordinate basis point use computer is overlapped, two such fitted figure is in same coordinate system, Then on the basis of one of them contour pattern curve, using another contour pattern curve as adjusting body to two after matching Contour pattern curve is compared, if the comparison error control of two contour pattern curves is in set point, then and computer Output control command is to axis vehicle, it is achieved two docking treating interface of two modules to be docked, if two profile diagrams Sigmoid curves comparison error is outside set point, then computer is according to matrix conversion, sets up the coordinate on image and world coordinate system Relation, calculate adjustment body need adjusted value, then output need adjusted value control command give load adjust body axis vehicle, adjust The state of whole axis vehicle, then repeats described step (3) and (4) until two of two modules to be docked are treated interface Till being docking together exactly.

Use this method to be possible not only to effectively, accurately the object needing docking moved, can also be made it simultaneously Being docking together with higher precision, improve safety, minimizing accident occurs.

Claims (1)

1. the segmentation docking calculation of large hydraulic natural gas storage conveyor module, it is characterised in that it comprises the following steps:

(1) two modules to be docked are individually positioned on axis vehicle, then adjust two axis vehicles to be docked to adjust Two of two modules treat the relative position of interface；

(2) waiting that the sustained height docking two modules sets a coordinate basis point respectively, at two simultaneously when ensureing to shoot The coordinate basis point of this respective modules can be taken in by photo；

(3) use photographic equipment two complete images treating interface of shooting, then image is passed to computer；

(4) computer accepts to come from the view data of photographic equipment, uses computer according to coordinate basis o'clock to two width images Draw rectangular coordinate system, and two images photographed are respectively adopted method of least square are fitted obtaining two contour pattern songs Coordinate basis point use computer is overlapped by line again, and two such fitted figure is in same coordinate system, then On the basis of one of them contour pattern curve, using another contour pattern curve as adjusting body to two profiles after matching Graph curve is compared, if the comparison error control of two contour pattern curves is in set point, then and computer export Control command is to axis vehicle, it is achieved two docking treating interface of two modules to be docked, if two contour pattern songs Line comparison error is outside set point, then computer is according to matrix conversion, sets up the pass of the coordinate on image and world coordinate system System, calculates adjustment body and needs adjusted value, and then output needs the control command of adjusted value to loading the axis vehicle adjusting body, adjusts axle The state of line car, then repeats described step (3) and (4) until two of two modules to be docked are treated that interface is accurate Be docking together till；

In this step, employing method of least square for the Feature Segmentation fit procedure of general profile is:

Straight line is first set and takes its curvilinear equation as y=a₀+a₁X, then chooses three points on straight line, and wherein 2 is from directly 2 points that line end is the nearest, another point is the midpoint of described 2, then uses the method for minimum quadratic fit by other Linear equation is obtained, and in the feature of described general profile, the equation of circle is asked for according to formula one and formula two mode；

If formula one oval feature, then the equation making ellipse is x²+axy+by²+ cx+dy=e

Deviation δ=x²+axy+by²+cx+dy-e

The sum of squares function of deviationIf thinking, matching obtains Good elliptic curve, then makeObtain an equation group about x Yu y, from step (3) The point selecting five nonlinear correlations in the figure treating interface that shooting obtains is brought into wherein, available a, b, c, d, e, i.e. obtains Elliptic equation；

Formula two is if justifying then b=1, thenNeed to select four points to bring into wherein, obtain circle side Journey.