CN111194002B - Driving positioning method, system, medium and equipment based on ranging base station - Google Patents
Driving positioning method, system, medium and equipment based on ranging base station Download PDFInfo
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- CN111194002B CN111194002B CN202010030878.5A CN202010030878A CN111194002B CN 111194002 B CN111194002 B CN 111194002B CN 202010030878 A CN202010030878 A CN 202010030878A CN 111194002 B CN111194002 B CN 111194002B
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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]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The embodiment of the application provides a driving positioning method, a driving positioning system, a driving positioning medium and driving positioning equipment based on a ranging base station, and relates to the technical field of high-precision driving positioning. The driving positioning method comprises the steps that the second base station and a first base station with a known position are subjected to distance measurement, and the three-dimensional coordinate of the second base station is obtained through calculation according to a circular equation and a linear equation; calculating to obtain a three-dimensional coordinate of a third base station based on the three-dimensional coordinate of the second base station; and calculating the three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and the angle information based on the encoder, so that the cargo positioning information can be obtained. 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 travelling crane high-precision positioning, in particular to a travelling crane positioning method, a travelling crane positioning system, a travelling crane positioning medium and a travelling crane positioning device based on a ranging base station.
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 is that the low position is realized through a laser range finder, and the driving has larger vibration in the running 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 a driving positioning device based on ranging base stations, and the driving positioning method, the driving positioning system and the driving positioning device have the advantages that the number of the ranging base stations (three base stations) is less, a calculation method is combined, blind areas existing in the whole driving positioning area are eliminated, the positioning system precision is improved, and the problems that the sign endurance is caused due to the fact that hook labels are added and the Z-axis positioning is inaccurate due to the fact that the hooks swing in the moving process are eliminated. The positioning scheme maximally avoids the problem of non-line-of-sight between UWB ranging base stations. Three-dimensional positioning of goods can be completed only by using three UWB ranging base stations and one encoder.
The embodiment of the application is realized by the following steps: a driving positioning method based on a ranging base station comprises the following steps: the first base station is arranged on one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are hung on the travelling crane speed reducer through the hook; the second base station and the first base station with known positions are subjected to distance measurement, a linear equation of the second base station is combined, the intersection point of a circular equation and the linear equation is calculated, and then the radiation range of the second base station is combined to obtain the three-dimensional coordinate of the second base station; calculating to obtain a three-dimensional coordinate of a third base station based on the three-dimensional coordinate of the second base station and the distance measurement between the second base station and the third base station; calculating three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and the encoder angle information, and obtaining cargo positioning information; the first base station is arranged on one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are loaded on the travelling speed reducer through the hooks. The goods are loaded on the travelling speed reducer through the hooks.
Preferably, the first base station is a fixed base station, and the second base station and the third 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 third base station moves on the XY plane along with the trolley.
Preferably, the distance measurement between the second base station and the first base station with a known position, combining with a linear equation of the second base station, calculating an intersection point of a circular equation and the linear equation, and then combining with the area information of the second base station to obtain the three-dimensional coordinate of the second base station includes:
the second base station and a first base station with a known position are subjected to ranging to obtain a first distance between the second base station and the first base station;
using the first base station as the center of a circleA first distance R of the first base station21Establishing a first circular equation for the radius; wherein the first circular equation (1) is:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1)
Establishing a second base station linear equation which is parallel to the cart track:
y2＝k*x2+ b or x2C formula (2)
Obtaining two groups (x) according to the formulas (1) and (2)2,y2) (ii) a According to the x-axis and y-axis coordinates of the second base station in the radiation range of the second base station, combining the z-axis coordinate of the second base station to obtain the three-dimensional coordinate (x-axis coordinate) of the second base station2,y2,z2) (ii) a Wherein, in the formula (1), (x)2,y2) Unknown, other parameters are obtained through measurement; in the formula (2), the linear equation of the second base station is parallel to the cart track, k, b or c can be obtained through measurement, and the radiation area of the second base station is kept unchanged, k represents the slope of the linear equation, b represents the offset, c represents a constant when k is not present, and c is x2；((x1,y1,z1) Is the three-dimensional coordinates of the first base station.
Preferably, the first and second liquid crystal materials are,
the three-dimensional coordinate of the third base station is obtained through distance measurement calculation based on the three-dimensional coordinate of the second base station and the third base station, and the method comprises the following steps:
the second base station and a third base station carry out ranging to obtain a second distance between the second base station and the third base station;
the second distance R is taken as the circle center23Establishing a second circular equation for the radius; wherein the second circular equation (3) is:
(x2-x3)2+(y2-y3)2+(z2-z3)2＝R23 2formula (3)
Establishing a trolley track equation (4) of the third base station:
obtaining the coordinates of two groups of third base stations according to the formulas (3) and (4), and obtaining the three-dimensional coordinates (x) of the third base stations by combining the area information3,y3,z3) (ii) a Wherein, in the formula (3), (x)3,y3) Unknown, other parameters are obtained by measurement; the direction of the small car track in the formula (4) is vertical to the big car track.
Preferably, the step of calculating the three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and based on the encoder angle information to obtain the cargo positioning information 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 third 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 z4Coordinate calculation formula:
goods x4Coordinate calculation formula: x is the number of4＝x3+ alpha formula (6)
Goods y4Coordinate calculation formula: y is4＝y3+ beta formula (7)
(x) of the cargo is obtained according to equations (5), (6) and (7)4,y4,z4) 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, k1 and b1 are measured calibration values, k1 refers to the conversion slope from the angle of the encoder to the height, b1 refers to the conversion fixed offset of the height angle, and alpha and beta are fixed offset values when cargoes are installed; wherein alpha and beta are respectively cargo and thirdFixed offset of x and y coordinates of the base station, and alpha and beta are fixed values.
Preferably, the first base station is arranged on a cart track, and the second base station and the third base station are arranged on a trolley track.
Preferably, the process of obtaining the three-dimensional coordinate of the second base station by resolving, obtaining the position of the third 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 driving positioning system based on a ranging base station comprises: the base station setting module is used for setting the first base station at one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are hung on the travelling crane speed reducer through the hook; the three-dimensional coordinate acquisition module of the second base station is used for ranging the second base station and the first base station with known position and calculating according to a circular equation to obtain the three-dimensional coordinate of the second base station; the third base station position acquisition module is used for calculating the position of the third base station based on the three-dimensional coordinate of the second base station; the cargo positioning information acquisition module is used for calculating three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and the encoder angle information, and then cargo positioning information can be obtained; the first base station is arranged on one side of the cart track; the second base station is arranged on the trolley track; a third base station and an encoder are arranged on the travelling crane speed reducer; the goods are loaded on the travelling speed reducer through the hooks.
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 equipment based on range finding basic station includes: a memory for storing a computer program; and the processor is used for realizing the steps of the travelling crane positioning method when the computer program is executed.
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:
compared with the pure encoder for service positioning, the scheme has no condition that repeated recalibration is needed due to service brake slipping. The hook encoder is adopted, and the Z-axis positioning precision is better than other schemes, so that the driving positioning scheme mainly can reduce the number of distance measuring base stations, eliminate blind areas in the whole driving positioning area, improve the positioning system precision, and eliminate the problems of labeling 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. Three-dimensional positioning of goods can be completed only by using three UWB ranging base stations and one encoder.
Compared with a wireless distance measurement technology, the UWB distance measurement technology has better precision, better anti-jamming capability and better anti-jamming capability, and can accurately complete three-dimensional positioning measurement of goods.
Compared with other wireless ranging driving positioning schemes, fewer ranging base stations and a minimum wireless ranging blind area are needed.
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 according to 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:
first base station, second base station, third base station
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-needed scene, and specifically includes the following steps:
step 100: the first base station is arranged on one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are hung on the travelling crane speed reducer through the hook;
step 101: the method comprises the steps that a second base station and a first base station with a known position are subjected to ranging, according to a circular equation and a linear equation, the intersection point of the circular equation and the linear equation is calculated, and then the radiation range of the second base station is combined to obtain the three-dimensional coordinate of the second base station; namely, combining the first distance R21 from the second base station to the first base station, the fixation from the second base station to the cart track and the coordinate of the first base station, calculating (taking the first base station as the center of circle, the first distance R21 of the first base station as the radius to establish a circular equation, parallel to the cart track and the linear equation of the second base station, and calculating the intersection point of the straight line and the circle as the coordinate of the second base station);
step 102: calculating to obtain a three-dimensional coordinate of a third base station based on the three-dimensional coordinate of the second base station and the distance measurement between the second base station and the third base station; i.e. a second distance D for combining the position information of the second base station with the second base station and the third base station23Crossing the circle and the straight line to obtain XYZ position information of a third base station;
step 103: calculating three-dimensional position information of the hook based on the three-dimensional coordinate of the third base station and the encoder angle information, and then obtaining cargo positioning information; the angle information of the hook encoder is converted into height information, and XYZ position information of the hook, namely driving position information or cargo position information, can be obtained by combining the position information of the third base station;
in order to detail the driving positioning method disclosed in the above embodiment, the first base station is a fixed base station, and the second base station and the third 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 third 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 101: the specific process is as follows:
step 1011: the second base station and a first base station with a known position are subjected to ranging to obtain a first distance between the second base station and the first base station; step 1012: a first distance R of the first base station by taking the first base station as a circle center21Establishing a first circular equation for the radius, the first circular equation being:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1)
Step 1013: establishing a second base station linear equation which is parallel to the cart track:
y2＝k*x2+ b or x2C formula (2)
Step 1014: obtaining two groups (x) according to the formulas (1) and (2)2,y2): according to the x-axis and y-axis coordinates of the second base station in the radiation range of the second base station, combining the z-axis coordinate of the second base station to obtain the three-dimensional coordinates (x2, y2, z2) of the second base station; wherein, in the formula (1), (x)2，y2) Unknown, other parameters are obtained through measurement; in the formula (2), the linear equation of the second base station is parallel to the cart track, k, b or c can be obtained through measurement, and the radiation area of the second base station is kept unchanged, k represents the slope of the linear equation, b represents the offset, c represents a constant when k is not present, and c is x2；(x1,y1,z1) Is the three-dimensional coordinates of the first base station.
In one embodiment, referring to the base station arrangement of fig. 1 or 2, the leftmost side of the cart track where the first base station is located is taken as the origin of coordinates P (x)0,y0,z0) The first base station is located at the right side of the second base station and the third base station, that is, y3 is smaller than y2y1；
It is to be understood that x2Can be arranged on two end points of a trolley track, namely x2Either equal to the length of the trolley rail (the length of the trolley rail refers to the x-axis length of the trolley rail added between two parallel cart rails) or equal to 0. The coordinate system is that the x-axis is parallel to the trolley track, the y-axis is parallel to the cart track, and the z-axis is perpendicular to the plane formed by the x-axis and the y-axis. The Z axis is a positive half shaft facing the ground, the y axis is a positive half shaft facing the first base station, and the x axis is a positive half shaft facing the second base station; at this time, y1Greater than y3；z1＝z2＝z3；y2＝y3(ii) a Three-dimensional coordinates x of goods4＝x3，y4＝y3；z4＝z3+ compensation value.
When the solution as shown in figure 1 is formed,
when the solution as shown in figure 2 is formed,
in order to detail the driving positioning method disclosed in the above embodiment, in the step 102, the three-dimensional coordinate of the third base station is obtained through the distance measurement calculation based on the three-dimensional coordinate of the second base station and the third base station, and the specific process is as follows:
step 1021: the second base station and a third base station carry out ranging to obtain a second distance between the second base station and the third base station; the second distance R is taken as the center of a circle23Establishing a second circular equation for the radius; wherein the second circular equation (3) is:
(x2-x3)2+(y2-y3)2+(z2-z3)2＝R23 2formula (3)
Step 1022: establishing a trolley track equation (4) of the third base station:
step 1023: obtaining the coordinates of two groups of third base stations according to the formulas (3) and (4), and obtaining the three-dimensional coordinates (x) of the third base stations by combining the area information3,y3,z3) (ii) a Wherein, in the formula (3), (x)3，y3) Unknown, other parameters are obtained by measurement; the direction of the small car track in the formula (4) is vertical to the big car track.
In order to detail the driving positioning method disclosed in the above embodiment, in step 103, the step of calculating three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and based on the encoder angle information 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 third 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 z4Coordinate calculation formula:
goods x4Coordinate calculation formula: x is the number of4＝x3+ alpha formula (6)
Goods y4Coordinate calculation formula: y is4＝y3+ beta formula (7)
(x) of the cargo is obtained according to equations (5), (6) and (7)4,y4,z4) 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, k1 and b1 are measured calibration values, k1 refers to the conversion slope from the angle of the encoder to the height, b1 refers to the conversion fixed offset of the height angle, and alpha and beta are fixed offset values when cargoes are installed; wherein alpha and beta are respectively fixed offsets of the goods and x and y coordinates of the third base station, and alpha and beta are fixed values. It is composed ofIf the hook is right below the third base station, α and β are zero.
In the embodiment of the application, the first base station is arranged on a cart track, and the second base station and the third base station are arranged on a trolley track.
In order to detail the driving positioning method disclosed in the above embodiment, the first base station is disposed on the cart track, and the second base station and the third base station are disposed on the cart track. The first base station, the second base station and the third base station are all UWB base stations and are used for ranging; the first base station is fixedly arranged on one side of any cart track, and specifically, the first base station is arranged on the rightmost side or the leftmost side of the cart track; the second base station is arranged on the edge of the trolley track and is shown in figure 2 or figure 3 (the second base station is positioned at two sides of the third base station to form two forms of figure 2 and figure 3), the second base station is a mobile base station, and the whole area of the Z-axis coordinate of the second base station (the mobile base station) is fixed; the second base station may also be mounted on the cart trackside and on the same side of the first base station (fixed position UWB ranging base station) or the second base station (fixed position UWB ranging base station) as shown in fig. 3. And the third base station is arranged on the trolley track, moves on the XY whole plane together with the trolley right above the hook, and moves simultaneously in the direction of the trolley track.
The trolley tracks are vertically arranged between the two parallel cart tracks and walk between the two cart tracks in a direction parallel to the two cart tracks. The cart track is a beam fixed at a certain distance from the ground;
wherein, the travelling crane speed reducer is provided with an encoder, and a third base station is arranged 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 third 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. For example: the first base station, the second base station, the third base station and the encoder have wireless communication functions and can transmit data back to a processor (data center) for unified processing; the encoder may be directly connected to a base station (the first base station, the second base station, or the third base station) and data processing may be performed directly on the base station.
In order to detail the driving positioning method disclosed in the above embodiment, the driving positioning system is composed of 3 ranging base stations, and the first base station 1 is a fixed-position base station (not moving along with the movement of the trolley track); the second base station 2 and the third base station 3 are mobile base stations, wherein the moving track of the second base station 2 is parallel to the cart track. The Z-coordinate of the 3 base stations in the figure is fixed unchanged after installation.
When the second base station is far from the first base station (as shown in fig. 1, the first base station is located on a cart track, and the second base station is located on a cart track between the third base station and another cart track), the positioning method is as follows: as shown in fig. 1, the second base station 2 measures the distance from the first base station 1, X, Y, Z three-dimensional coordinates of the second base station 2 can be obtained through linear equations (parallel to the cart track) from the first base station 1 to the second base station 2, X, Y, Z three-dimensional coordinates of the third base station 3 can be obtained through calculation from the distance from the second base station 2 to the third base station 3, the height of the hook can be obtained through calculation by connecting an encoder to a running speed reducer, and X, Y, Z three-dimensional coordinates of the hook can be obtained through the third base station.
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. 3, the second base station 2 measures distances from the first base station 1 and the third base station 3, XYZ coordinates of the second base station can be obtained by solving the distance from the first base station 1 and a linear equation of the second base station, XYZ left sides of the third base station can be obtained by solving the distance from the third base station 3 and a cart orbit equation of the third base station in combination with area information of the third base station, and hook height can be obtained by calculating a position encoder from the third base station 3. This embodiment differs from the first embodiment in that the second base station 2 is arranged on the same side or opposite side of the first base station 1.
In order to detail the driving positioning method based on the ranging base station disclosed in the above embodiment, the present application provides a driving positioning system based on the ranging base station, which specifically includes:
the base station setting module is used for setting the first base station on one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are hung on the travelling crane speed reducer through the hook;
the three-dimensional coordinate acquisition module of the second base station is used for ranging the second base station and the first base station with a known position, combining a linear equation of the second base station, calculating the intersection point of a circular equation and the linear equation, and then combining the area information of the second base station to obtain the three-dimensional coordinate of the second base station;
the third base station position acquisition module is used for calculating and obtaining the three-dimensional coordinate of the third base station based on the three-dimensional coordinate of the second base station and the distance measurement between the second base station and the third base station;
the cargo positioning information acquisition module is used for calculating three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and the encoder angle information, so that cargo positioning information can be obtained;
the first base station is arranged on one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are loaded on the travelling speed reducer through the hooks.
In order to detail the distance measuring base station-based driving positioning system disclosed in the above embodiment, it is required to be clear that the first base station, the second base station, and the third base station are all UWB base stations and are used for distance measurement; the first base station is fixedly arranged on one side of any cart track, and the first base station is arranged on the rightmost side or the leftmost side of the cart track; the second base station is arranged on the edge of the trolley track as shown in figure 2 or figure 3 (the second base station is positioned at two sides of the third base station to form two forms as shown in figure 2 and figure 3), and the Z-axis coordinate of the second base station (the mobile base station) is fixed in the whole area; the second base station may also be mounted on the cart trackside and on the same side of the first base station (fixed position UWB ranging base station) or the second base station (fixed position UWB ranging base station) as shown in fig. 3. The third 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;
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 third base station is arranged 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.
In the system, a first base station, a second base station, a third base station and an encoder have wireless communication functions and can transmit data back to a processor (data center) for unified processing; the encoder may be directly connected to a base station (the first base station, the second base station, or the third base station) and data processing may be performed directly on the base station.
The working process of the travelling crane positioning system 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 third base station which move are in signal communication with the first base station in real time.
The three-dimensional coordinate values of the goods are based on the z-axis of the third base station, the z-axis distance between the third base station and the goods is compensated, the distance of the goods z4 represents the distance between the goods and the origin of the coordinate system, and the distance between the goods and the ground is the axial value-z 4 from the ground to the far point of the coordinate system.
A computer-readable storage medium, on which a computer program is stored, and when executed by a processor, the computer program implements the steps of the distance-measuring base station-based driving location method provided in the embodiments of the present application.
A driving positioning equipment based on range finding basic station includes: a memory for storing a computer program; and a processor, configured to implement the steps of the driving positioning method based on the ranging base station provided 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 (9)
1. A driving positioning method based on a ranging base station is characterized by comprising the following steps:
the first base station is arranged on one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are hung on the travelling crane speed reducer through the hook;
the second base station and the first base station with known positions are subjected to distance measurement, a linear equation of the second base station is combined, the intersection point of a circular equation and the linear equation is calculated, and then the radiation range of the second base station is combined to obtain the three-dimensional coordinate of the second base station;
calculating to obtain a three-dimensional coordinate of a third base station based on the three-dimensional coordinate of the second base station and the distance measurement between the second base station and the third base station;
calculating three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and the encoder angle information, and obtaining cargo positioning information;
the method comprises the following steps of measuring distance between the second base station and a first base station with a known position, combining a linear equation of the second base station, calculating an intersection point of a circular equation and the linear equation, and then combining area information of the second base station to obtain a three-dimensional coordinate of the second base station, and comprises the following steps:
the second base station and a first base station with a known position are subjected to ranging to obtain a first distance between the second base station and the first base station;
using the first base station as the center of a circleA first distance R of the first base station21Establishing a first circular equation for the radius; wherein the first circular equation (1) is:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1)
Establishing a second base station linear equation which is parallel to the cart track:
y2＝k*x2+ b or x2C formula (2)
Obtaining two groups (x) according to the formulas (1) and (2)2，y2) (ii) a According to the x-axis and y-axis coordinates of the second base station in the radiation range of the second base station, combining the z-axis coordinate of the second base station to obtain the three-dimensional coordinate (x-axis coordinate) of the second base station2，y2，z2) (ii) a Wherein, in the formula (1), (x)2，y2) Unknown, other parameters are obtained through measurement; in the formula (2), the linear equation of the second base station is parallel to the cart track, k, b or c can be obtained through measurement, and the radiation area of the second base station is kept unchanged, k represents the slope of the linear equation, b represents the offset, c represents a constant when k is not present, and c is x2；(x1，y1，z1) Is the three-dimensional coordinates of the first base station.
2. The vehicle positioning method according to claim 1, wherein the first base station is a fixed base station, and the second base station and the third 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 third base station moves on the XY plane along with the trolley.
3. The driving positioning method of claim 1, wherein the calculating the three-dimensional coordinate of the third base station based on the three-dimensional coordinate of the second base station and the distance measurement between the second base station and the third base station comprises:
the second base station and a third base station carry out ranging to obtain a second distance between the second base station and the third base station;
the second distance R is taken as the center of a circle23Establishing a second circular equation for the radius; wherein the second circular equation (3) is:
(x2-x3)2+(y2-y3)2+(z2-z3)2＝R23 2formula (3)
Establishing a trolley track equation (4) of the third base station:
obtaining the coordinates of two groups of third base stations according to the formulas (3) and (4), and obtaining the three-dimensional coordinates (x) of the third base stations by combining the area information3，y3，z3) (ii) a Wherein, in the formula (3), (x)3，y3) Unknown, other parameters are obtained by measurement; the direction of the small car track in the formula (4) is vertical to the big car track.
4. The vehicle traveling positioning method according to claim 3, wherein the calculating three-dimensional position information of the hook according to the three-dimensional coordinates of the third base station and based on the encoder angle information to obtain the cargo positioning information 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 third 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 z4Coordinate calculation formula:
goods x4Coordinate calculation formula: x is the number of4＝x3+ α equation (6);
goods y4Coordinate calculation formula: y is4＝y3+ β equation (7);
(x) of the cargo is obtained according to equations (5), (6) and (7)4，y4，z4) 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, k1 and b1 are measured calibration values, k1 refers to the conversion slope from the angle of the encoder to the height, b1 refers to the conversion fixed offset of the height angle, and alpha and beta are fixed offset values when cargoes are installed; wherein alpha and beta are respectively fixed offsets of the goods and x and y coordinates of the third base station, and alpha and beta are fixed values.
5. The method as claimed in claim 1, wherein the first base station is disposed on a cart track, and the second and third base stations are disposed on a cart track.
6. The vehicle traveling positioning method according to claim 1, wherein the process of obtaining the three-dimensional coordinates of the second base station by calculation, obtaining the position of the third base station by 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.
7. The utility model provides a driving a vehicle positioning system based on range finding basic station which characterized in that:
the base station setting module is used for setting the first base station at one side of the cart track; the second base station is arranged on the trolley track; the third base station is arranged above the hook; the encoder is connected to a concentric shaft of the travelling speed reducer; the goods are hung on the travelling crane speed reducer through the hook;
the three-dimensional coordinate acquisition module of the second base station is used for ranging the second base station and the first base station with a known position, combining a linear equation of the second base station, calculating the intersection point of a circular equation and the linear equation, and then combining the area information of the second base station to obtain the three-dimensional coordinate of the second base station;
the third base station position acquisition module is used for calculating and obtaining the three-dimensional coordinate of the third base station based on the three-dimensional coordinate of the second base station and the distance measurement between the second base station and the third base station;
the cargo positioning information acquisition module is used for calculating three-dimensional position information of the hook according to the three-dimensional coordinate of the third base station and the encoder angle information, so that cargo positioning information can be obtained;
the method comprises the following steps of measuring the distance between the second base station and the first base station with a known position, combining a linear equation of the second base station, calculating the intersection point of a circular equation and the linear equation, and then combining the area information of the second base station to obtain the three-dimensional coordinate of the second base station, and comprises the following steps:
the second base station and a first base station with a known position are subjected to ranging to obtain a first distance between the second base station and the first base station;
a first distance R of the first base station by taking the first base station as a circle center21Establishing a first circular equation for the radius; wherein the first circular equation (1) is:
(x2-x1)2+(y2-y1)2+(z2-z1)2＝R21 2formula (1)
Establishing a second base station linear equation which is parallel to the cart track:
y2＝k*x2+ b or x2C formula (2)
Obtaining two groups (x) according to the formulas (1) and (2)2，y2) (ii) a According to the x-axis and y-axis coordinates of the second base station in the radiation range of the second base station, combining the z-axis coordinate of the second base station to obtain the three-dimensional coordinate (x-axis coordinate) of the second base station2，y2，z2) (ii) a Wherein, in the formula (1), (x)2，y2) Unknown, other parameters are obtained through measurement; in the formula (2), the linear equation of the second base station is parallel to the cart track, k, b or c can be obtained through measurement, the radiation area of the second base station is kept unchanged, and k represents the slope of the linear equationB represents an offset, c represents a constant when k is absent, and c is x2；(x1，y1，z1) Is the three-dimensional coordinates of the first base station.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the ranging base station based driving location method according to any one of claims 1 to 6.
9. The utility model provides a driving positioning equipment based on range finding basic station which characterized in that includes: a memory for storing a computer program; a processor for implementing the steps of the ranging base station based driving positioning method as claimed in any one of claims 1 to 6 when executing the computer program.
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| CN112357769A (en) * | 2020-06-19 | 2021-02-12 | 武汉小狮科技有限公司 | Automatic control system of unmanned overhead traveling crane |
| CN114845236A (en) * | 2021-01-30 | 2022-08-02 | 华为技术有限公司 | Initialization method, terminal and system for newly added base station under UWB system |
| CN114430524B (en) * | 2021-12-30 | 2023-09-01 | 杭州海康威视数字技术股份有限公司 | Calibration method and device of ultra-wideband base station and electronic equipment |
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