CN112486169A - Unmanned overhead traveling crane board placing positioning method, system, equipment and storage medium - Google Patents
Unmanned overhead traveling crane board placing positioning method, system, equipment and storage medium Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The embodiment of the application provides a method, a system, equipment and a storage medium for positioning an unmanned overhead travelling crane placing plate, wherein the method comprises the following steps: respectively scanning the short edge and the long edge of the steel plate through a first single-line laser scanner and a second single-line laser scanner to obtain short edge intersection point information and two long edge intersection point information; acquiring the distance and angle relationship between the short edge intersection and the first single line laser scanner and the distance and angle relationship between the two long edge intersections and the second single line laser scanner; acquiring the longitudinal offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner, and acquiring the transverse offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner; and controlling the unmanned overhead travelling crane to move to a target position according to the longitudinal offset and the transverse offset, and putting down the steel plate. The method compensates the movement of the unmanned overhead travelling crane through the offset of the steel plate, ensures that the steel plate can be always conveyed to the same position to be placed down, and ensures that the steel plate is placed neatly.
Description
Technical Field
The application relates to the technical field of electricity, in particular to a method, a system, equipment and a storage medium for positioning an unmanned overhead travelling crane placing plate.
Background
Unmanned overhead traveling crane can be used for the transportation of steel sheet in the engineering operation, its hoist is hoisted the steel sheet, and through the removal of cart and dolly in two directions with the steel sheet transportation to the top of steel sheet bracket, and then place the steel sheet on the steel sheet bracket, at present, the hoist of unmanned overhead traveling crane is difficult to guarantee its accuracy of snatching the position when hoisting the steel sheet, lead to the position relation between steel sheet and the hoist to be uneven, and then when placing the steel sheet, owing to be according to the unmanned overhead traveling crane of location and put the board position and confirm, make a plurality of steel sheets of placing uneven.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method, a system, a device and a storage medium for positioning a placement position of an unmanned overhead traveling crane, so as to accurately position a placement position of a steel plate, and to enable the steel plate to be placed neatly.
In a first aspect, the embodiment of the application provides a positioning method for an unmanned overhead travelling crane placing plate, and the method comprises the steps of scanning the short edge and the long edge of a steel plate respectively through a first single-line laser scanner and a second single-line laser scanner to obtain intersection point information of the short edge and intersection point information of the two long edges; acquiring the longitudinal offset and the transverse offset of the steel plate according to the short edge intersection information and the two long edge intersection information; acquiring the longitudinal offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner, and acquiring the transverse offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner; and controlling the unmanned overhead travelling crane to move to a target position according to the longitudinal offset and the transverse offset, and putting down the steel plate.
In the implementation process, a first single line laser scanner scans the short edge of a steel plate to obtain short edge intersection point information, the short edge intersection point is the intersection point of the first single line laser scanner and the short edge of the steel plate, a second single line laser scanner scans the long edge of the steel plate to obtain two long edge intersection point information, the two long edge intersection points are the intersection points of the second single line laser scanner and the two long edges of the steel plate respectively, the longitudinal offset and the transverse offset of the steel plate are obtained according to the obtained short edge intersection point information and the two long edge intersection point information, the unmanned overhead crane can be controlled to move to a target position according to the longitudinal offset and the transverse offset, so that the steel plate can be placed at the same position neatly, offset data is obtained by positioning the steel plate, the movement of the unmanned overhead crane can be compensated according to the offset data, and after the unmanned overhead crane moves to the target position, the steel plates are all positioned at the same position, so that the problem of uneven placement of the steel plates is avoided.
Further, the acquiring the longitudinal offset and the transverse offset of the steel plate according to the short side intersection information and the two long side intersection information includes: acquiring the distance and angle relation between the short edge intersection point and the first single line laser scanner according to the short edge intersection point information, and acquiring the distance and angle relation between the two long edge intersection points and the second single line laser scanner according to the two long edge intersection point information; and acquiring the longitudinal offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner, and acquiring the transverse offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner.
In the above-mentioned implementation process, according to an minor face intersection point information and two long limit intersection point information that obtain, and the position that sets up of first single line laser scanner and second single line laser scanner, acquire the distance and the angle relation of minor face intersection point and first single line laser scanner, and the distance and the angle relation of two long limit intersection points respectively with second single line laser scanner, and further, can obtain the longitudinal deviation amount of steel sheet through handling the distance and the angle relation of minor face intersection point and first single line laser scanner, can obtain the lateral deviation amount of steel sheet through handling the distance and the angle relation of two long limit intersection points respectively with second single line laser scanner.
Further, the acquiring the longitudinal offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single line laser scanner, and the acquiring the transverse offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single line laser scanner includes: acquiring a first horizontal distance between the short edge intersection and the first single line laser scanner according to the distance and angle relationship between the short edge intersection and the first single line laser scanner, wherein the first horizontal distance is the longitudinal offset; and acquiring a second horizontal distance and a third horizontal distance from the two long edge intersections to the second single-line laser scanner respectively according to the distance and angle relationship between the two long edge intersections and the second single-line laser scanner, wherein the second horizontal distance and the third horizontal distance are the transverse offset.
In the implementation process, after the distance and the angle relation between the intersection point of the short edge and the first single-line laser scanner are obtained, the first horizontal distance from the intersection point of the short edge to the first single-edge laser scanner can be obtained through calculation processing, the first horizontal distance is the longitudinal offset of the steel plate, and the same can be used for obtaining the second horizontal distance and the third horizontal distance from the intersection point of the two long edges to the second single-line laser scanner respectively, namely the transverse offset, so that the unmanned overhead traveling crane can be compensated for the movement through the longitudinal offset and the transverse offset, and the accurate placement of the steel plate is ensured.
Further, the controlling the unmanned overhead traveling crane to move to the target position and lay down the steel plate according to the longitudinal offset and the transverse offset includes: positioning and identifying the actual position of the cart and the actual position of the trolley of the unmanned overhead travelling crane; acquiring the positioning positions of the cart and the trolley according to the actual position of the cart, the actual position of the trolley, the longitudinal offset and the transverse offset; and controlling the cart and the trolley to respectively move to the respective target positions according to the positioning positions.
In the implementation process, the actual positions of a cart and a trolley of the unmanned overhead travelling crane are determined through positioning identification, then the positioning position of the cart is determined according to the actual position and the longitudinal offset of the cart, the positioning position of the trolley is determined according to the actual position and the transverse offset of the trolley, and then the target positions to which the cart and the trolley respectively need to move are determined according to the positioning positions, the target positions are the final positions of the cart and the trolley when the steel plate is placed at the same position, so that the steel plate is accurately placed at the same position under the condition that the steel plate grabbing positions are changeable, and the steel plate can be placed neatly.
In a second aspect, an embodiment of the present application provides an unmanned overhead traveling crane slab positioning system, the system includes: the data acquisition module is used for scanning the short edge and the long edge of the steel plate through the first single-line laser scanner and the second single-line laser scanner respectively to obtain short edge intersection point information and two long edge intersection point information; the data processing module is used for acquiring the longitudinal offset and the transverse offset of the steel plate according to the short-side intersection information and the two long-side intersection information; and the control module is used for controlling the unmanned overhead travelling crane to move to a target position and put down the steel plate according to the longitudinal offset and the transverse offset.
Further, the data acquisition module is further configured to acquire a distance and an angle relationship between the short edge intersection and the first single-line laser scanner according to the short edge intersection information, and acquire a distance and an angle relationship between the two long edge intersections and the second single-line laser scanner according to the two long edge intersection information; the data processing module is specifically configured to obtain a first horizontal distance between the short edge intersection and the first single-line laser scanner according to a distance and an angle relationship between the short edge intersection and the first single-line laser scanner, where the first horizontal distance is the longitudinal offset.
Further, the data processing module is specifically configured to: acquiring a first horizontal distance between the short edge intersection and the first single line laser scanner according to the distance and angle relationship between the short edge intersection and the first single line laser scanner, wherein the first horizontal distance is the longitudinal offset; and acquiring a second horizontal distance and a third horizontal distance from the two long edge intersections to the second single-line laser scanner respectively according to the distance and angle relationship between the two long edge intersections and the second single-line laser scanner, wherein the second horizontal distance and the third horizontal distance are the transverse offset.
Furthermore, the unmanned overhead traveling crane plate placing positioning system also comprises a positioning identification module; the positioning identification module is used for positioning and identifying the actual position of the cart and the actual position of the trolley of the unmanned overhead travelling crane; the data processing module is also used for acquiring the positioning positions of the cart and the trolley according to the actual position of the cart, the actual position of the trolley, the longitudinal offset and the transverse offset; the control module is also used for controlling the cart and the trolley to move to the respective target positions according to the positioning positions.
In a third aspect, an apparatus provided in an embodiment of the present application includes: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of the first aspect when executing the computer program.
In a fourth aspect, a storage medium is provided in an embodiment of the present application, where the storage medium has instructions stored thereon, and when the instructions are executed on a computer, the instructions cause the computer to perform the method according to any one of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer, causes the computer to perform the method according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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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 schematic diagram of an edge of a scanned steel plate according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for positioning an unmanned overhead traveling crane slab according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a method for positioning an unmanned overhead traveling crane slab according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an unmanned overhead traveling crane slab positioning system according to an embodiment of the present application;
fig. 5 is a block diagram of an apparatus for positioning an unmanned overhead traveling crane placing plate according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments 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. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The unmanned overhead traveling crane board placing positioning method, the unmanned overhead traveling crane board placing positioning system, the unmanned overhead traveling crane board placing positioning equipment and the storage medium can be applied to the field of unmanned overhead traveling crane transportation, the unmanned overhead traveling crane can be compensated for moving through the offset of the positioning steel plate, and then the steel plate is located at the same position after the unmanned overhead traveling crane moves to the target position, the steel plate is placed neatly, and the uneven phenomenon cannot occur. Referring to fig. 1, fig. 1 is a schematic view illustrating an edge of a scanning steel plate according to an embodiment of the present disclosure. The first single line laser scanner and the second single line laser scanner are respectively arranged at one end of a lifting appliance of the unmanned overhead crane, the laser scanning path of the first single line laser scanner is parallel to the long edge of the steel plate, the laser scanning path of the second single line laser scanner is parallel to the short edge of the steel plate, the intersection point of the laser of the first single line laser scanner and the short edge of the steel plate is set as a point A, the intersection point of the laser of the second single line laser scanner and the long edge of the steel plate is set as a point B and a point C respectively, for the convenience of explanation, the embodiment of the application regards the first single line laser scanner and the second single line laser scanner as the same point, namely, the point O (in practical application, the first single line laser scanner and the second single line laser scanner cooperate with the intersection points for data processing for two different point information), and by acquiring the distance and angle relation between the point O and the point A, the point B and the point C point respectively, the longitudinal offset and the transverse offset of the steel plate can be obtained through calculation, and then the unmanned overhead travelling crane can perform movement compensation according to the offset data of the steel plate, so that the steel plate can be finally laid down from the same position, and the problem that the steel plate is unevenly placed is avoided.
Referring to fig. 2, fig. 2 is a diagram illustrating a method for positioning an unmanned overhead traveling crane slab according to an embodiment of the present application, including:
step S110, respectively scanning the short edge and the long edge of the steel plate through the first single line laser scanner and the second single line laser scanner to obtain short edge intersection point information and two long edge intersection point information, wherein the short edge intersection point is the laser of the first single line laser scanner and the intersection point of the short edge of the steel plate, and the long edge intersection point is the intersection point of the laser of the second single line laser scanner and the long edge of the steel plate.
Illustratively, the first single line laser scanner is installed in such a manner that its scanning path is parallel to the long side of the steel plate, and thus its scanning laser beam will generate an intersection point with the short side of the steel plate, i.e., point a, and similarly, the second single line laser scanner has a scanning path parallel to the short side of the steel plate, and its scanning laser beam will generate intersection points with the two long sides of the steel plate, i.e., points B and C, respectively.
And step S120, acquiring the longitudinal offset and the transverse offset of the steel plate according to the short-side intersection information and the two long-side intersection information.
Optionally, in step S120, the method for positioning an unmanned overhead traveling crane placing plate provided in the embodiment of the present application includes: step S121, acquiring the distance and angle relationship between the short edge intersection point and the first single-line laser scanner according to the short edge intersection point information, and acquiring the distance and angle relationship between the two long edge intersection points and the second single-line laser scanner according to the two long edge intersection point information; and S122, acquiring the longitudinal offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner, and acquiring the transverse offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner.
Optionally, in step S122, the method for positioning an unmanned overhead traveling crane placing plate provided in the embodiment of the present application includes: step S122a, obtaining a first horizontal distance between the short edge intersection and the first single-line laser scanner according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner, where the first horizontal distance is the longitudinal offset; step S122b, obtaining a second horizontal distance and a third horizontal distance from the intersection point of the two long sides to the second single-line laser scanner respectively according to the distance and angle relationship between the intersection point of the two long sides and the second single-line laser scanner, where the second horizontal distance and the third horizontal distance are the lateral offset.
For example, after the points a, B, and C are obtained, the distance and angular relationship between the first single-line laser scanner and the point a, which is the line OA, and the distance and angular relationship between the second single-line laser scanner and the points B and C, which are the line OB and the line OC, respectively, may be obtained, the longitudinal offset amount of the steel plate is the first horizontal distance between the intersection of the short sides and the first single-line laser scanner, the lateral offset amount of the steel plate is the second horizontal distance and the third horizontal distance between the intersection of the two long sides and the second single-line laser scanner, respectively, the first horizontal distance is x, the second horizontal distance is z1, and the third horizontal distance is z2, and the first horizontal distance x is obtained by: the method for obtaining the second horizontal distance z1 is as follows: z1 sin (b) OB, and the third horizontal distance z2 is obtained by: z2 ═ sin (c) × OC.
Illustratively, the distance between the short edge intersection and the first single line laser scanner is OA, and the angle relationship between the short edge intersection and the first single line laser scanner may adopt an angle between a connecting line of the two and a vertical line, that is, an angle between the line segment OA and the vertical line, as the angle a. Similarly, the angle relationship between the intersection point of the two long edges and the second single-line laser scanner can adopt the included angles between the line segment OB and the line segment OC and the vertical line respectively, and the included angles are set as the angle b and the angle c.
And S130, controlling the unmanned overhead traveling crane to move to a target position according to the longitudinal offset and the transverse offset, and putting down the steel plate.
Illustratively, after the longitudinal offset x, the transverse offsets z1 and z2 are obtained, the longitudinal movement of the unmanned overhead traveling crane can be compensated by the longitudinal offset x, and the transverse movement of the unmanned overhead traveling crane can be compensated by the transverse offset z1 or z2, so as to ensure that the unmanned overhead traveling crane can convey the steel plate to the same position.
Referring to fig. 3, fig. 3 is a diagram illustrating a method for positioning an unmanned overhead traveling crane slab according to an embodiment of the present application, including:
and step S210, respectively scanning the short edge and the long edge of the steel plate through the first single-line laser scanner and the second single-line laser scanner to obtain short edge intersection information and two long edge intersection information.
And step S220, acquiring the longitudinal offset and the transverse offset of the steel plate according to the short-side intersection information and the two long-side intersection information.
Steps S210 and S220 are the same as steps S110 and S120, and are not described again here.
And step S230, positioning and identifying the actual position of the cart and the actual position of the trolley of the unmanned overhead traveling crane.
Illustratively, the actual positions of the cart and the trolley of the unmanned aerial vehicle are respectively obtained through positioning and identification, and in the embodiment of the application, the actual position of the cart is set to be P0, and the actual position of the trolley is set to be Z0.
And S240, acquiring the positioning positions of the cart and the trolley according to the actual position of the cart, the actual position of the trolley, the longitudinal offset and the transverse offset.
For example, in the embodiment of the present application, if the positioning position of the cart is P and the positioning position of the cart is Z, the positioning position P of the cart is P0+ x, and the positioning position Z of the cart is Z0+ Z1.
In the implementation process, the positioning position Z of the trolley is calculated by using Z ═ Z0+ Z1, which indicates that the vertical projection of the second single-line laser scanner is located on the edge of the steel plate where the point B is located as an ideal grabbing position in the embodiment (the condition that the scanning path of the second single-line laser scanner is parallel to the short side of the steel plate is unchanged), so that the movement of the trolley is compensated by the offset Z1 of the edge of the steel plate where the point B is located. Similarly, the vertical projection of the second single-line laser scanner can be located on the edge of the steel plate where the point C is located, and the transverse offset z2 is adopted to compensate the movement of the trolley.
And S250, controlling the cart and the trolley to move to the respective target positions respectively according to the positioning positions.
Illustratively, when the grabbing position of the steel plate grabbed by the unmanned overhead travelling crane is an ideal position, namely the vertical projection of the point O is located on the intersection point of the short side where the point A is located and the long side where the point B is located, at this time, the offset x and the offset z1 are both zero, the cart and the trolley of the unmanned overhead travelling crane can move to respective target positions, further, the positions where the steel plate is put down by the lifting appliance are consistent, when the steel plate is offset, namely the offset x and the offset z1 are not zero, the positioning positions of the cart and the trolley are obtained through compensation, then the respective actual positions are replaced by the respective positioning positions, when the positioning positions are overlapped with the target positions, the cart and the trolley stop moving, and at this time, the position of the steel plate is the final position of the steel plate during the ideal grabbing.
In a possible implementation scene, a first single-line laser scanner and a second single-line laser scanner respectively scan the short edge and the long edge of a steel plate to obtain a short edge intersection point A and two long edge intersection points B and C, then the distance OA between the point A and the first single-line laser scanner and the included angle a between the line segment OA and the vertical line, the distance OB between the point B and the second single-line laser scanner and the included angle B between the line segment OB and the vertical line, the distance OC between the point C and the second single-line laser scanner and the included angle C between the line segment OC and the vertical line are obtained, further the longitudinal offset x, the transverse offsets Z1 and Z2 of the steel plate are obtained through calculation processing, the actual position P0 of the unmanned aerial vehicle and the actual position Z0 of the vehicle are further obtained through positioning identification, then the positioning position P of the taxi and the positioning position Z of the vehicle are obtained through compensation through the offsets, and the respective actual positions of the large vehicle and the small vehicle are replaced by, when the positioning positions of the cart and the trolley are consistent with the respective target positions, the steel plate is moved to the target point, the steel plate is put down at the moment, the steel plate can be placed neatly, the cart and the trolley are stopped from moving, and the steel plate is put down. According to the method, the steel plate offset obtained through recognition and calculation is compensated for the movement of the unmanned overhead travelling crane, so that the unmanned overhead travelling crane can accurately move the steel plate to an ideal position, the effect of orderly placing the steel plate is further realized, and the problem that the error of the final placing position of the steel plate is difficult to control due to the uncertainty of the grabbing position of the lifting appliance, and the placing of the steel plate is uneven is avoided.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an unmanned overhead traveling crane slab positioning system according to an embodiment of the present application. It should be understood that the system in fig. 5 corresponds to the method embodiments in fig. 2 to 3, and can perform the steps related to the method embodiments, and the specific functions of the system can be referred to the description above, and the detailed description is appropriately omitted here to avoid redundancy. The system includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the system. Specifically, the system comprises:
and a data acquisition module 410, configured to scan the short edge and the long edge of the steel plate respectively through the first single line laser scanner and the second single line laser scanner, and obtain intersection information of the short edge and intersection information of the two long edges.
And the data processing module 420 is configured to obtain a longitudinal offset and a transverse offset of the steel plate according to the short edge intersection information and the two long edge intersection information.
And the control module 430 is used for controlling the unmanned overhead travelling crane to move to a target position and put down the steel plate according to the longitudinal offset and the transverse offset.
In one embodiment, the data obtaining module 410 is further configured to obtain a distance and an angle relationship between the short edge intersection and the first single-line laser scanner according to the short edge intersection information, and obtain a distance and an angle relationship between two long edge intersections and the second single-line laser scanner according to two long edge intersection information; the data processing module 420 is specifically configured to obtain a first horizontal distance between the short edge intersection and the first single-line laser scanner according to a distance and an angle relationship between the short edge intersection and the first single-line laser scanner, where the first horizontal distance is the longitudinal offset.
In one embodiment, the data processing module 420 is specifically configured to: acquiring a first horizontal distance between the short edge intersection and the first single line laser scanner according to the distance and angle relationship between the short edge intersection and the first single line laser scanner, wherein the first horizontal distance is the longitudinal offset; and acquiring a second horizontal distance and a third horizontal distance from the two long edge intersections to the second single-line laser scanner respectively according to the distance and angle relationship between the two long edge intersections and the second single-line laser scanner, wherein the second horizontal distance and the third horizontal distance are the transverse offset.
In an implementation manner, an unmanned overhead traveling crane placing plate positioning system provided in an embodiment of the present application further includes:
and the positioning identification module 440 is used for positioning and identifying the actual position of the cart and the actual position of the trolley of the unmanned aerial vehicle.
The data processing module 420 is further configured to obtain the positioning positions of the cart and the trolley according to the actual position of the cart, the actual position of the trolley, the longitudinal offset, and the lateral offset.
The control module 430 is further configured to control the cart and the cart to move to the respective target positions according to the positioning positions.
Fig. 5 shows a structural block diagram of an apparatus for positioning an unmanned overhead traveling crane placing plate according to an embodiment of the present application. The device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Wherein the communication bus 540 is used for realizing direct connection communication of these components. The communication interface 520 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. Processor 510 may be an integrated circuit chip having signal processing capabilities.
The Processor 510 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.
The Memory 530 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory 530 stores computer readable instructions that, when executed by the processor 510, cause the apparatus to perform the steps associated with the method embodiments of fig. 2-3 described above.
Optionally, the device may further include a memory controller, an input output unit.
The memory 530, the memory controller, the processor 510, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, these elements may be electrically coupled to each other via one or more communication buses 540. The processor 510 is adapted to execute executable modules stored in the memory 530, such as software functional modules or computer programs comprised by the device.
The input and output unit is used for providing a task for a user to create and start an optional time period or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in figure 5 is merely illustrative and that the apparatus may also include more or fewer components than shown in figure 5 or have a different configuration than shown in figure 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
The embodiment of the present application further provides a storage medium, where the storage medium stores instructions, and when the instructions are run on a computer, when the computer program is executed by a processor, the method in the method embodiment is implemented, and in order to avoid repetition, details are not repeated here.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiments.
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. An unmanned overhead traveling crane placing plate positioning method is characterized by comprising the following steps:
respectively scanning the short edge and the long edge of the steel plate through a first single-line laser scanner and a second single-line laser scanner to obtain short edge intersection point information and two long edge intersection point information;
acquiring the longitudinal offset and the transverse offset of the steel plate according to the short edge intersection information and the two long edge intersection information;
and controlling the unmanned overhead travelling crane to move to a target position according to the longitudinal offset and the transverse offset, and putting down the steel plate.
2. The method for positioning the overhead traveling crane slab as claimed in claim 1, wherein the step of obtaining the longitudinal offset and the lateral offset of the steel slab according to the short side intersection information and the two long side intersection information comprises:
acquiring the distance and angle relation between the short edge intersection point and the first single line laser scanner according to the short edge intersection point information, and acquiring the distance and angle relation between the two long edge intersection points and the second single line laser scanner according to the two long edge intersection point information;
and acquiring the longitudinal offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner, and acquiring the transverse offset of the steel plate according to the distance and angle relationship between the short edge intersection and the first single-line laser scanner.
3. The method as claimed in claim 2, wherein the step of obtaining the longitudinal offset of the steel plate according to the distance and angle relationship between the intersection of the short edges and the first single-line laser scanner, and the step of obtaining the lateral offset of the steel plate according to the distance and angle relationship between the intersection of the short edges and the first single-line laser scanner comprises:
acquiring a first horizontal distance between the short edge intersection and the first single line laser scanner according to the distance and angle relationship between the short edge intersection and the first single line laser scanner, wherein the first horizontal distance is the longitudinal offset;
and acquiring a second horizontal distance and a third horizontal distance from the two long edge intersections to the second single-line laser scanner respectively according to the distance and angle relationship between the two long edge intersections and the second single-line laser scanner, wherein the second horizontal distance and the third horizontal distance are the transverse offset.
4. The method according to claim 1, wherein the controlling the unmanned overhead traveling crane to move to the target position and lay down the steel plate according to the longitudinal offset and the lateral offset comprises:
positioning and identifying the actual position of the cart and the actual position of the trolley of the unmanned overhead travelling crane;
acquiring the positioning positions of the cart and the trolley according to the actual position of the cart, the actual position of the trolley, the longitudinal offset and the transverse offset;
and controlling the cart and the trolley to respectively move to the respective target positions according to the positioning positions.
5. An unmanned overhead traveling crane board placement positioning system, the system comprising:
the data acquisition module is used for scanning the short edge and the long edge of the steel plate through the first single-line laser scanner and the second single-line laser scanner respectively to obtain short edge intersection point information and two long edge intersection point information;
the data processing module is used for acquiring the longitudinal offset and the transverse offset of the steel plate according to the short-side intersection information and the two long-side intersection information;
and the control module is used for controlling the unmanned overhead travelling crane to move to a target position and put down the steel plate according to the longitudinal offset and the transverse offset.
6. The unmanned aerial vehicle placing plate positioning system of claim 5, wherein the data obtaining module is further configured to obtain a distance and an angle relationship between the short edge intersection and the first single line laser scanner according to the short edge intersection information, and obtain a distance and an angle relationship between two long edge intersections and the second single line laser scanner according to two long edge intersection information;
the data processing module is specifically configured to obtain a first horizontal distance between the short edge intersection and the first single-line laser scanner according to a distance and an angle relationship between the short edge intersection and the first single-line laser scanner, where the first horizontal distance is the longitudinal offset.
7. The unmanned aerial vehicle placement plate positioning system of claim 6, wherein the data processing module is specifically configured to:
acquiring a first horizontal distance between the short edge intersection and the first single line laser scanner according to the distance and angle relationship between the short edge intersection and the first single line laser scanner, wherein the first horizontal distance is the longitudinal offset;
and acquiring a second horizontal distance and a third horizontal distance from the two long edge intersections to the second single-line laser scanner respectively according to the distance and angle relationship between the two long edge intersections and the second single-line laser scanner, wherein the second horizontal distance and the third horizontal distance are the transverse offset.
8. The unmanned overhead traveling crane slab positioning system according to claim 5, further comprising a positioning identification module;
the positioning identification module is used for positioning and identifying the actual position of the cart and the actual position of the trolley of the unmanned overhead travelling crane;
the data processing module is also used for acquiring the positioning positions of the cart and the trolley according to the actual position of the cart, the actual position of the trolley, the longitudinal offset and the transverse offset;
the control module is also used for controlling the cart and the trolley to move to the respective target positions according to the positioning positions.
9. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the unmanned overhead traveling crane deck positioning method according to any one of claims 1 to 4.
10. A storage medium storing instructions which, when executed on a computer, cause the computer to perform the unmanned overhead traveling crane slab positioning method according to any one of claims 1 to 4.
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| CN202011316739.5A CN112486169B (en) | 2020-11-23 | 2020-11-23 | Unmanned crown block board placing and positioning method, system, equipment and storage medium |
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