CN111182450A - Driving positioning method, system, medium and equipment - Google Patents
Driving positioning method, system, medium and equipment Download PDFInfo
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- CN111182450A CN111182450A CN202010031283.1A CN202010031283A CN111182450A CN 111182450 A CN111182450 A CN 111182450A CN 202010031283 A CN202010031283 A CN 202010031283A CN 111182450 A CN111182450 A CN 111182450A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The embodiment of the application provides a driving positioning method, a driving positioning system, a driving positioning medium and driving positioning equipment, and relates to the technical field of high-precision positioning of driving. The driving positioning method comprises the steps that a second base station is simultaneously subjected to ranging with a first base station with a known position and a third base station with a known position, and the three-dimensional coordinate of the second base station is obtained through calculation according to a circular equation; calculating to obtain a three-dimensional coordinate of a fourth base station based on the three-dimensional coordinate of the second base station; and calculating the three-dimensional position information of the hook based on the encoder angle information to obtain the cargo positioning information. The positioning scheme maximally avoids the problem of non-line-of-sight between UWB ranging base stations. The system adopting the positioning scheme has no strict requirements on installation, and the base station does not need to be installed at the tail end of the rail of the cart, so that the installation is simplified.
Description
Technical Field
The application relates to the technical field of high-precision positioning of travelling cranes, in particular to a travelling crane positioning method, a travelling crane positioning system, a travelling crane positioning medium and travelling crane positioning equipment.
Background
The travelling crane is widely applied in industrial production and logistics, but generally does not have the function of accurately positioning the travelling crane, and a small part of travelling cranes with positioning functions have low precision, difficult installation and easy generation of positioning blind areas.
Traditional driving location is at the epaxial installation encoder of the axle of driving, fixes a position the driving through a plurality of epaxial encoders of axles, and the shortcoming of this scheme is that there is skidding in driving braking process, leads to encoder count mistake, can appear fixing a position extremely inaccurate problem after the many times of accumulations. In addition, the common driving positioning scheme realizes positioning through a laser range finder, and the driving has larger vibration in the operation process and can generate deformation to cause laser measurement errors.
Disclosure of Invention
The application provides a driving positioning method, a driving positioning system, a driving positioning medium and driving positioning equipment, which are used for eliminating blind areas in the whole driving positioning area, simplifying the installation problem of the driving positioning system, improving the precision of the positioning system and eliminating the problems of label endurance caused by the increase of hook marks and inaccurate Z-axis positioning caused by the swing of a hook in the moving process. The positioning scheme maximally avoids the problem of non-line-of-sight between UWB ranging base stations. The installation of the system using this positioning solution is not critical and does not have to be as simple as some solutions that have to mount the base station to the extreme end of the cart track, simplifying installation. The whole positioning area has high precision, and the base station is convenient to install (the limitation of the installation position is small).
The embodiment of the application is realized by the following steps:
a traveling crane positioning method comprises the steps that a first base station and a third base station are arranged on the same side of a cart track, a second base station is arranged on a trolley track, a traveling crane speed reducer is provided with an encoder and is arranged on the trolley track, goods are hung on the traveling crane speed reducer through a hook, and a fourth base station is arranged on the trolley track and is positioned above the hook; wherein the first base station and the third base station are known in location;
the second base station respectively carries out distance measurement with the first base station and the third base station, obtains a first distance between the second base station and the first base station and a second distance between the second base station and the third base station, and obtains a three-dimensional coordinate of the second base station by calculating with a circular equation according to the first distance, the second distance, the coordinate of the first base station and the coordinate of the third base station;
the second base station and the fourth base station carry out ranging to obtain a third distance between the second base station and the fourth base station, and the three-dimensional coordinate of the fourth base station is obtained through calculation based on the three-dimensional coordinate of the second base station and the third distance;
and calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinates of the fourth base station to obtain positioning information of the goods. Two base stations are adopted for measuring the coordinate of the second base station on the cart track, so that the installation difficulty of the fixed base station is reduced, and the positioning precision of the second base station is improved.
Preferably, the first base station and the third base station are fixed base stations, and the second base station and the fourth base station are mobile base stations; the Z-axis coordinate of the second base station is fixed and unchanged in the radiation range of the second base station; and the fourth base station moves on the XY plane along with the trolley.
Preferably, the obtaining of the three-dimensional coordinate of the second base station by solving the three-dimensional coordinate of the second base station according to the first distance, the second distance, the coordinate of the first base station, and the coordinate of the third base station by using a circular equation includes: taking the first base station as the center of a circle and the first distance as the radius R21Establishing a first circular equation, wherein the first circular equation is as follows:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1)
The second distance R is taken as the center of a circle23Establishing a second circular equation for the radius, the second circular equation being:
(x2-x3)2+(y2-y3)2+(z2-z3)2＝R23 2formula (2)
Establishing a first line equation for the second base station, the first line being parallel to the cart track:
y2＝k*x2+ b or x2C formula (3)
Calculating a first intersection point coordinate of the first circular equation and the second circular equation, and obtaining a second intersection point coordinate based on the first intersection point coordinate and the first linear equation, wherein the second intersection point coordinate is a three-dimensional coordinate of the second base station;
wherein the linear equation (3) is parallel to the cart track, k and b are obtained by measurement and are kept unchanged; when k exists, the equation is the left equation, and when k does not exist, the equation is the right equation; x is the number of2，y2Unknown, x1、x3、y1、y3、z1、z2、z3、R21、R23K, b are known;
obtaining unique (x) according to the formula (1), the formula (2) and the formula (3)2，y2)；
The three-dimensional coordinate (x) of the second base station can be obtained2，y2,z2). And in the process of calculating the coordinates of the second base station, the non-line-of-sight influence of wireless ranging is avoided to the maximum extent.
Preferably, the calculating the three-dimensional coordinate of the fourth base station based on the three-dimensional coordinate of the second base station and the third distance includes:
establishing a third circular equation by taking the second base station as a circle center and the third distance as a radius; wherein the third circular equation is;
(x2-x4)2+(y2-y4)2+(z2-z4)2＝R24 2formula (4)
Establishing a second straight line equation about a second base station, wherein the second straight line is perpendicular to the cart track; wherein the second equation of a straight line is:
calculating to obtain two groups of coordinate values (x) of the fourth base station according to the formula (4) and the formula (5)4，y4) And (x)4′，y4') and obtaining a three-dimensional coordinate value (x) of the fourth base station by combining the x-axis coordinate and the y-axis coordinate of the fourth base station in the radiation range of the fourth base station and the z-axis coordinate of the fourth base station4，y4，z4)；(x4，y4，z4) Is the three-dimensional coordinates of the fourth base station. By passingThe fourth base station method is obtained by intersecting the circle and the straight line, and the selection of the whole coordinate system is not limited.
Preferably, the calculating the three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinate of the fourth base station to obtain the positioning information of the cargo includes:
converting the angle information of the encoder into height information, and calculating three-dimensional position information of a hook by combining with the three-dimensional coordinates of the fourth base station, wherein the three-dimensional position information of the hook is the three-dimensional position information of the goods; the calculation formula comprises: goods z5Coordinate calculation formula:
formula (6)
Cargo x coordinate calculation formula: x is the number of5＝x4+ α formula (7)
Cargo y-coordinate calculation formula: y is5＝y4+ β formula (8)
(x) of the cargo is obtained according to the formulas (6), (7) and (8)5，y5，z5) Coordinates, namely completing three-dimensional positioning of the goods;
wherein the content of the first and second substances,
the hook height measuring method comprises the steps of measuring the height of a cargo, wherein the height of the cargo is measured by a first base station, the height of the cargo is measured by a second base station, the first base station is used for outputting an angle of a coder, k1 and b1 are calibration values, the calibration values are converted values of the angle of the coder and the height, k1 refers to a conversion slope from the angle of the coder to the height, b1 refers to a conversion fixed offset of the angle of the height, α and β are fixed offset values when the cargo is installed, α and β are fixed values respectively of x and y coordinates of the cargo and a fourth base station, and the α and.
Preferably, the second base station is arranged on the trolley track and is positioned at the same side as the first base station and the third base station; or the second base station is arranged on the trolley track and is positioned at the opposite side of the first base station and the third base station.
Preferably, the process of obtaining the three-dimensional coordinate of the second base station by resolving, obtaining the position of the fourth base station by calculating, and calculating the three-dimensional position information of the hook based on the encoder angle information is performed by a processor or any base station; the data required in the calculation process is formed by all the base stations transmitting all the data back to the processor for data processing or any base station.
A vehicle positioning system, comprising:
the system comprises a parameter setting module, a trolley track, a running speed reducer, a cargo, a parameter setting module and a parameter setting module, wherein the parameter setting module is used for arranging a first base station and a third base station on the same side of the big trolley track, the second base station is arranged on the trolley track, the running speed reducer is provided with an encoder and is arranged on the trolley track, the cargo is hung on the running speed reducer through a hook, and a fourth base station is arranged; wherein the first base station and the third base station are known in location;
a three-dimensional coordinate obtaining module of the second base station, configured to measure distances between the second base station and the first base station and between the second base station and the third base station, obtain a first distance between the second base station and the first base station and a second distance between the second base station and the third base station, and obtain a three-dimensional coordinate of the second base station by using a circular equation to solve according to the first distance, the second distance, a coordinate of the first base station, and a coordinate of the third base station;
a fourth base station position obtaining module, configured to perform ranging between the second base station and the fourth base station, obtain a third distance between the second base station and the fourth base station, and calculate a three-dimensional coordinate of the fourth base station based on the three-dimensional coordinate of the second base station and the third distance;
and the cargo positioning information acquisition module is used for calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinate of the fourth base station so as to obtain positioning information of the cargo.
A computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for vehicle location.
A driving positioning device comprising: a memory for storing a computer program; and the processor is used for realizing the steps of the driving positioning method when executing the computer program.
To sum up, the embodiment of the present application provides a method, a system, a medium, and a device for positioning a traveling crane based on a ranging base station, which have the following beneficial effects:
the driving positioning scheme mainly can eliminate blind areas in the whole driving positioning area, simplify the installation problem of a driving positioning system, improve the precision of the positioning system, and eliminate the problems of label endurance caused by the increase of hook marks and inaccurate Z-axis positioning caused by swinging in the hook moving process. The positioning scheme maximally avoids the problem of non-line-of-sight between UWB ranging base stations. The installation of the system using this positioning solution is not critical and does not have to mount the base station to the extreme end of the cart track as some solutions do, simplifying installation
Compared with the pure encoder for service positioning, the scheme has no condition that repeated recalibration is needed due to service brake slipping.
Compared with a wireless ranging technology, the UWB ranging technology has better precision and better anti-interference capability.
Compare with other wireless range finding driving location schemes, have littleer location blind area, this scheme has minimum wireless range finding blind area.
And a hook encoder is adopted, so that the Z-axis positioning precision is better than that of other schemes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of the driving positioning method provided in the embodiment of the present application;
FIG. 2 is a schematic view of an apparatus installation provided by an embodiment of the present application;
FIG. 3 is a second schematic view of an apparatus installation provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of device coordinates provided in an embodiment of the present application;
icon:
② first ② base ② station ②, ② second ② base ② station ②, ② third ② base ② station ②, ② fourth ② base ② station ②
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, a driving positioning method is applied to each application-required scene, and includes:
step 101: arranging a first base station and a third base station on the same side of a cart track, arranging a second base station on a trolley track, arranging a coder on a travelling speed reducer and arranging the coder on the trolley track, hanging goods on the travelling speed reducer through a hook, and arranging a fourth base station on the trolley track and above the hook; wherein the first base station and the third base station are known in location;
step 102: the second base station respectively carries out distance measurement with the first base station and the third base station, obtains a first distance between the second base station and the first base station and a second distance between the second base station and the third base station, and obtains a three-dimensional coordinate of the second base station by calculating with a circular equation according to the first distance, the second distance, the coordinate of the first base station and the coordinate of the third base station; the specific process comprises the following steps:
step 103: the method comprises the following steps of measuring the distance between the second base station and the fourth base station, obtaining a third distance between the second base station and the fourth base station, and calculating to obtain a three-dimensional coordinate of the fourth base station based on the three-dimensional coordinate of the second base station and the third distance, wherein the specific process comprises the following steps:
step 104: calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinate of the fourth base station to obtain positioning information of the goods, wherein the specific process comprises the following steps:
the working process is as follows:
the trolley track is provided with a traveling reducer, the traveling reducer carries the goods through the hook and advances along the direction parallel to the two trolley tracks, and the goods are conveyed to the terminal point from the starting point. And during the cargo transportation period of the trolley track, the second base station and the fourth base station which move are in signal communication with the first base station and the second base station in real time. And compensating the z-axis distance between the fourth base station and the goods on the basis of the z-axis of the fourth base station by the three-dimensional coordinate value of the goods.
In order to detail the driving positioning method disclosed in the above embodiment, the first base station and the third base station are fixed base stations, and the second base station and the fourth base station are mobile base stations; the Z-axis coordinate of the second base station is fixed and unchanged in the radiation range of the second base station; and the fourth base station moves on the XY plane along with the trolley.
In order to detail the driving positioning method disclosed in the above embodiment, the step 102 obtains a three-dimensional coordinate of the second base station by calculating using a circular equation according to the first distance, the second distance, the coordinate of the first base station, and the coordinate of the third base station, and specifically includes:
step 1021: taking the first base station as the center of a circle and the first distance as the radius R21Establishing a first circular equation, wherein the first circular equation is as follows:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1);
step 1022: the second distance R is taken as the center of a circle23Establishing a second circular equation for the radius, the second circular equation being:
(x2-x3)2+(y2-y3)2+(z2-z3)2＝R23 2formula (2);
step 1023: establishing a first line equation for the second base station, the first line being parallel to the cart track:
y2＝k*x2+ b or x2C formula (3)
Step 1024: calculating a first intersection point coordinate of the first circular equation and the second circular equation, and obtaining a second intersection point coordinate based on the first intersection point coordinate and the first linear equation, wherein the second intersection point coordinate is a three-dimensional coordinate of the second base station;
wherein the linear equation (3) is parallel to the cart track, k and b are obtained by measurement and are kept unchanged; when k exists, the equation is the left equation, and when k does not exist, the equation is the right equation; x is the number of2,y2Unknown, x1、x3、y1、y3、z1、z2、z3、R21、R23K, b are known;
step 1025: obtaining unique (x) according to the formula (1), the formula (2) and the formula (3)2，y2) (ii) a The three-dimensional coordinate (x) of the second base station can be obtained2,y2,z2) (ii) a As the first base station and the second base station form a first circle, the third base station and the second base station form a second circle and the motion trail of the second base station forms a linear equation parallel to the cart track through the formulas (1 and 2); the first circle and the second circle form two intersection points, and the only one intersection point, namely the X of the second base station, can be obtained by combining the linear equation; wherein (x)2，y2) Unknown, x1、x3、y1、y3、z1、z2、z3、R21、R23K, b are known; .
For example, a position of the cart track to the left of the first base station in fig. 1 is taken as a coordinate origin P (x)0,y0,z0) In this case, it is to be noted in fig. 1. The second base station can be set to either the left end point or the right end point of the trolley track.
Taking FIG. 1 as an example, it can be seen that x1＝x3；y3Greater than y1；z1＝z2＝z3＝z4；y2＝y4＝y5(ii) a Three-dimensional coordinates x of goods5＝x4，y5＝y4；z5＝z4+ compensation value.
In order to detail the driving positioning method disclosed in the above embodiment, the step 103 obtains a three-dimensional coordinate of the fourth base station by calculation based on the three-dimensional coordinate of the second base station and the third distance, and the specific process includes:
step 1031: performing circle and straight line intersection based on the three-dimensional coordinates of the second base station and the third distance;
(x2-x4)2+(y2-y4)2+(z2-z4)2＝R24 2formula (4)
Step 1032: establish the equation of the line of the second base station (the line is perpendicular to the cart track) y4＝-k2(x4-x2)+y2Formula (5)
Wherein, the slope k of the connection line of the second base station and the fourth base station2(perpendicular to cart rail):
step 1033: calculating to obtain two groups of coordinate values (x) of the fourth base station according to the formula (4) and the formula (5)4，y4) And (x)4′，y4') and obtaining a three-dimensional coordinate value (x) of the fourth base station by combining the x-axis coordinate and the y-axis coordinate of the fourth base station in the radiation range of the fourth base station and the z-axis coordinate of the fourth base station4,y4,z4)；(x4，y4，z4) Is the three-dimensional coordinate of the fourth base station; wherein x is1、x2、x3、y1、y2、y3、z2、z4、R24Are known.
It is also noted that: the second base station is arranged on the side of the trolley track and is positioned at the other side for fixing the first base station or the second base station, and the second base station is shown in figure 1; the second base station can also be installed on the track side of the trolley and is positioned on the same side of the first base station (the fixed position UWB ranging base station) or the second base station (the fixed position UWB ranging base station), as shown in fig. 2, when there is no shielding between the first base station and the third base station, the fresnel area problem of wireless ranging can be avoided, so that the test result is accurate.
In order to detail the driving positioning method disclosed in the above embodiment, the step 104 calculates three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinate of the fourth base station to obtain the positioning information of the cargo, and specifically includes:
step 1041: converting the angle information of the encoder into height information, and calculating three-dimensional position information of a hook by combining with the three-dimensional coordinates of the fourth base station, wherein the three-dimensional position information of the hook is the three-dimensional position information of the goods; goods z5Coordinate calculation formula:
goods z5Coordinate calculation formula:
cargo x coordinate calculation formula: x is the number of5＝x4+ α formula (7)
Cargo y-coordinate calculation formula: y is5＝y4+ β formula (8)
Step 1042: as shown in FIG. 3, (x) of the cargo can be obtained according to equations (6), (7) and (8)5,y5,z5) Coordinates, namely completing three-dimensional positioning of the goods; wherein the content of the first and second substances,
for the output angle of the encoder, k2 and b2 are calibration values, k2 refers to the conversion slope from the angle of the encoder to the height, b2 is an offset, and α and β are fixed offset values when the cargo is installed, wherein α and β are respectively fixed offsets of the cargo and x and y coordinates of a fourth base station, and α and β are fixed values;
and if the hook is positioned right below the fourth base station, alpha and β are zero.
The first base station and the third base station are arranged on the same side of the cart track; the second base station is arranged on the trolley track; the fourth base station is arranged right above the travelling crane hook, and a concentric shaft on the travelling crane speed reducer is connected with an encoder; the goods are loaded on the travelling speed reducer through the hooks.
In order to detail the driving positioning method disclosed in the above embodiment, the driving positioning system is composed of 4 ranging base stations, the first base station 1 and the third base station 3 are fixed base stations (not moving along with the movement of the trolley); the second base station 2 and the fourth base station 4 are mobile base stations, wherein the second base station 2 moves in parallel with the cart track, and the No. 4 base station moves on the whole XY plane. The Z-coordinate of the 4 base stations in the figure is fixed unchanged after installation.
When the second base station is not on the same side as the first base station, the positioning method is as follows: as shown in fig. 1, the second base station 2 measures distances from the first base station 1, the third base station 3, and the fourth base station 4, an X/Y coordinate can be obtained by calculating the distances from the first base station 1 to the third base station 3 and a movement trajectory equation of the second base station, an X, Y, Z three-dimensional coordinate of the second base station 2 can be obtained by calculating a X, Y, Z three-dimensional coordinate of the fourth base station 4 according to the distance from the second base station 2 to the fourth base station 4, a hook height can be obtained by calculating by connecting an encoder to a driving reducer, and a X, Y, Z three-dimensional coordinate of a hook can be obtained by the fourth base station 4.
When the second base station is on the same side as the first base station, the positioning method is as follows: as shown in fig. 2, the second base station 2 measures distances from the first base station 1, the third base station 3, and the fourth base station 4, the XY coordinates of the second base station can be obtained by calculating the distances from the first base station 1 to the third base station 3 and the movement trajectory equation of the second base station, the X, Y, Z three-dimensional coordinates of the second base station 2 can be obtained, the X, Y, Z three-dimensional coordinates of the fourth base station 4 can be obtained by calculating the distance from the second base station 2 to the fourth base station 4 and the movement trajectory equation of the fourth base station, the height of the hook can be obtained by calculating by connecting the encoder to the reduction gear, and the X, Y, Z three-dimensional coordinates of the hook can be obtained by connecting the fourth base station 4.
Wherein 1, the first base station, the second base station, the third base station and the fourth base station are all UWB base stations; the first base station and the third base station are fixedly required to be installed on the same side of any cart track, the positions of the first base station and the third base station on the cart track have no special requirement, and the distance between the two base stations is required to be as large as possible for higher measurement accuracy; the fourth base station is arranged on the trolley track, moves along with the trolley track right above the hook, and moves on the XY whole plane. For example, the second base station is disposed on the trolley track and located on the same side as the first base station and the third base station (as shown in fig. 1, the first base station, the second base station, and the third base station are located on the same cart track); alternatively, the second base station is disposed on the trolley track and located on the opposite side of the first base station and the third base station (as shown in fig. 2, the first base station and the second base station are located on one cart track, and the second base station is located on the other cart track parallel to the cart track).
2. The trolley tracks are vertically arranged between the two parallel trolley tracks and walk between the two trolley tracks in a direction parallel to the two trolley tracks. The cart track is a beam fixed at a certain distance from the ground;
3. the running speed reducer is provided with an encoder, and the fourth base station is arranged on a trolley track right above the hook; and obtaining the distance of the goods from the ground through an encoder. The couple encoder is installed on the concentric shaft of couple driving reducer, and the encoder can record the turned angle of reduction gear, and this angle and the height of goods have linear relation, can calculate the height of obtaining the goods from this. To solve the problem of angular blurring caused by encoder flipping absolute encoders are used here.
In order to detail the driving positioning method disclosed in the above embodiment, the process of obtaining the three-dimensional coordinate of the second base station by calculation, obtaining the position of the fourth base station by calculation, and calculating the three-dimensional position information of the hook based on the encoder angle information is performed by the processor or any base station; the data required in the calculation process is formed by all the base stations transmitting all the data back to the processor for data processing or any base station.
In order to detail the driving positioning method disclosed in the above embodiment, the present application provides a driving positioning system, which specifically includes:
the system comprises a parameter setting module, a trolley track, a running speed reducer, a cargo, a parameter setting module and a parameter setting module, wherein the parameter setting module is used for arranging a first base station and a third base station on the same side of the big trolley track, the second base station is arranged on the trolley track, the running speed reducer is provided with an encoder and is arranged on the trolley track, the cargo is hung on the running speed reducer through a hook, and a fourth base station is arranged; wherein the first base station and the third base station are known in location;
a three-dimensional coordinate obtaining module of the second base station, configured to measure distances between the second base station and the first base station and between the second base station and the third base station, obtain a first distance between the second base station and the first base station and a second distance between the second base station and the third base station, and obtain a three-dimensional coordinate of the second base station by using a circular equation to solve according to the first distance, the second distance, a coordinate of the first base station, and a coordinate of the third base station;
a fourth base station position obtaining module, configured to perform ranging between the second base station and the fourth base station, obtain a third distance between the second base station and the fourth base station, and calculate a three-dimensional coordinate of the fourth base station based on the three-dimensional coordinate of the second base station and the third distance;
and the cargo positioning information acquisition module is used for calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinate of the fourth base station so as to obtain positioning information of the cargo.
The driving positioning working process comprises the following steps: the trolley track is provided with a traveling reducer, the traveling reducer carries the goods through the hook and advances along the direction parallel to the two trolley tracks, and the goods are conveyed to the terminal point from the starting point. And during the cargo transportation period of the trolley track, the second base station and the fourth base station which move are in signal communication with the first base station and the second base station in real time. And compensating the z-axis distance between the fourth base station and the goods on the basis of the z-axis of the fourth base station by the three-dimensional coordinate value of the goods.
In the system, a first base station, a second base station, a third base station and a fourth base station are all UWB base stations; the first base station and the third base station are fixedly required to be installed on the same side of any cart track, the positions of the first base station and the third base station on the cart track have no special requirement, and the distance between the two base stations is required to be as large as possible for higher measurement accuracy; the fourth base station is arranged on the trolley track, moves along with the trolley track right above the hook, and moves on the XY whole plane. For example, the second base station is disposed on the trolley track and located on the same side as the first base station and the third base station (as shown in fig. 1, the first base station, the second base station, and the third base station are located on the same cart track); alternatively, the second base station is disposed on the trolley track and located on the opposite side of the first base station and the third base station (as shown in fig. 2, the first base station and the second base station are located on one cart track, and the second base station is located on the other cart track parallel to the cart track).
In the system, the trolley track is vertically arranged between two parallel cart tracks and runs between the two cart tracks, and the running direction is parallel to the two cart tracks. The cart track is a beam fixed at a certain distance from the ground;
in the system, a running speed reducer is provided with an encoder, and a fourth base station is arranged on a trolley track right above a hook; and obtaining the distance of the goods from the ground through an encoder. The couple encoder is installed on the concentric shaft of couple driving reducer, and the encoder can record the turned angle of reduction gear, and this angle and the height of goods have linear relation, can calculate the height of obtaining the goods from this. To solve the problem of angular blurring caused by encoder flipping absolute encoders are used here.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for vehicle location as described in an embodiment of the present application.
A driving positioning device comprising: a memory for storing a computer program; and a processor, configured to implement the steps of the driving positioning method in the embodiment of the present application when executing the computer program.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A driving positioning method is characterized by comprising the following steps:
arranging a first base station and a third base station on the same side of a cart track, arranging a second base station on a trolley track, arranging a coder on a travelling speed reducer and arranging the coder on the trolley track, hanging goods on the travelling speed reducer through a hook, and arranging a fourth base station on the trolley track and above the hook; wherein the first base station and the third base station are known in location;
the second base station respectively carries out distance measurement with the first base station and the third base station, obtains a first distance between the second base station and the first base station and a second distance between the second base station and the third base station, and obtains a three-dimensional coordinate of the second base station by calculating with a circular equation according to the first distance, the second distance, the coordinate of the first base station and the coordinate of the third base station;
the second base station and the fourth base station carry out ranging to obtain a third distance between the second base station and the fourth base station, and the three-dimensional coordinate of the fourth base station is obtained through calculation based on the three-dimensional coordinate of the second base station and the third distance;
and calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinates of the fourth base station to obtain positioning information of the goods.
2. The vehicle traveling positioning method according to claim 1, characterized in that: the first base station and the third base station are fixed base stations, and the second base station and the fourth base station are mobile base stations; the Z-axis coordinate of the second base station is fixed and unchanged in the radiation range of the second base station; and the fourth base station moves on the XY plane along with the trolley.
3. The driving positioning method according to claim 1 or 2, wherein the calculating of the three-dimensional coordinates of the second base station by using a circular equation according to the first distance, the second distance, the coordinates of the first base station and the coordinates of the third base station comprises:
taking the first base station as the center of a circle and the first distance as the radius R21Establishing a first circular equation, wherein the first circular equation is as follows:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1)
The second distance R is taken as the center of a circle23Establishing a second circular equation for the radius, said secondThe equation of the circle is:
(x2-x3)2+(y2-y3)2+(z2-z3)2＝R23 2formula (2)
Establishing a first line equation for the second base station, the first line being parallel to the cart track:
y2＝k*x2+ b or x2C formula (3)
Calculating a first intersection point coordinate of the first circular equation and the second circular equation, and obtaining a second intersection point coordinate based on the first intersection point coordinate and the first linear equation, wherein the second intersection point coordinate is a three-dimensional coordinate of the second base station;
wherein the linear equation (3) is parallel to the cart track, k and b are obtained by measurement and are kept unchanged; when k exists, the equation is the left equation, and when k does not exist, the equation is the right equation; x is the number of2,y2Unknown, x1、x3、y1、y3、z1、z2、z3、R21、R23K, b are known;
obtaining unique (x) according to the formula (1), the formula (2) and the formula (3)2,y2)；
The three-dimensional coordinate (x) of the second base station can be obtained2，y2,z2)。
4. The driving positioning method according to claim 3, wherein the calculating the three-dimensional coordinate of the fourth base station based on the three-dimensional coordinate of the second base station and the third distance includes:
establishing a third circular equation by taking the second base station as a circle center and the third distance as a radius; wherein the third circular equation is;
(x2-x4)2+(y2-y4)2+(z2-z4)2＝R24 2formula (4)
Establishing a second straight line equation about a second base station, wherein the second straight line is perpendicular to the cart track and passes through a fourth base station; wherein the second equation of a straight line is:
calculating to obtain two groups of coordinate values (x) of the fourth base station according to the formula (4) and the formula (5)4，y4) And (x)4′，y4') and obtaining a three-dimensional coordinate value (x) of the fourth base station by combining the x-axis coordinate and the y-axis coordinate of the fourth base station in the radiation range of the fourth base station and the z-axis coordinate of the fourth base station4,y4,z4)；(x4,y4,z4) Is the three-dimensional coordinates of the fourth base station.
5. The driving positioning method according to claim 1, 2 or 4, wherein the calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinates of the fourth base station to obtain the positioning information of the cargo comprises:
converting the angle information of the encoder into height information, and calculating three-dimensional position information of a hook by combining with the three-dimensional coordinates of the fourth base station, wherein the three-dimensional position information of the hook is the three-dimensional position information of the goods; the calculation formula comprises: goods z5Coordinate calculation formula:
formula (6)
Cargo x coordinate calculation formula: x is the number of5＝x4+ α formula (7)
Cargo y-coordinate calculation formula: y is5＝y4+ β formula (8)
(x) of the cargo is obtained according to the formulas (6), (7) and (8)5,y5,z5) Coordinates, namely completing three-dimensional positioning of the goods;
wherein the content of the first and second substances,
in order to output the angle for the encoder,k1 and b1 are calibration values which are converted values of the angle and the height of the encoder and can be obtained through actual measurement, k1 is a conversion slope from the angle of the encoder to the height, b1 is a conversion fixed offset of the angle of the height, and α and β are fixed offset values when the goods are installed, wherein α and β are respectively fixed offsets of the goods and x and y coordinates of the fourth base station, and α and β are fixed values.
6. The vehicle positioning method according to claim 5, wherein the second base station is disposed on the trolley track and located on the same side as the first base station and the third base station; or the second base station is arranged on the trolley track and is positioned at the opposite side of the first base station and the third base station.
7. The vehicle traveling positioning method according to claim 1, 2, 4 or 6, wherein the process of obtaining the three-dimensional coordinates of the second base station by the calculation, obtaining the position of the fourth base station by the calculation, and calculating the three-dimensional position information of the hook based on the encoder angle information is performed by a processor or any base station; the data required in the calculation process is formed by all the base stations transmitting all the data back to the processor for data processing or any base station.
8. A vehicle positioning system, comprising:
the system comprises a parameter setting module, a trolley track, a running speed reducer, a cargo, a parameter setting module and a parameter setting module, wherein the parameter setting module is used for arranging a first base station and a third base station on the same side of the big trolley track, the second base station is arranged on the trolley track, the running speed reducer is provided with an encoder and is arranged on the trolley track, the cargo is hung on the running speed reducer through a hook, and a fourth base station is arranged; wherein the first base station and the third base station are known in location;
a three-dimensional coordinate obtaining module of the second base station, configured to measure distances between the second base station and the first base station and between the second base station and the third base station, obtain a first distance between the second base station and the first base station and a second distance between the second base station and the third base station, and obtain a three-dimensional coordinate of the second base station by using a circular equation to solve according to the first distance, the second distance, a coordinate of the first base station, and a coordinate of the third base station;
a fourth base station position obtaining module, configured to perform ranging between the second base station and the fourth base station, obtain a third distance between the second base station and the fourth base station, and calculate a three-dimensional coordinate of the fourth base station based on the three-dimensional coordinate of the second base station and the third distance;
and the cargo positioning information acquisition module is used for calculating three-dimensional position information of the hook based on the encoder angle information and the three-dimensional coordinate of the fourth base station so as to obtain positioning information of the cargo.
9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method for vehicle positioning according to any one of claims 1 to 7.
10. A driving positioning device, comprising: a memory for storing a computer program; processor for implementing the steps of a method for locating a vehicle according to any of claims 1 to 7 when executing said computer program.
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