CN113064653A - Method and device for guiding carried object, storage medium and server - Google Patents

Method and device for guiding carried object, storage medium and server Download PDF

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CN113064653A
CN113064653A CN202110374820.7A CN202110374820A CN113064653A CN 113064653 A CN113064653 A CN 113064653A CN 202110374820 A CN202110374820 A CN 202110374820A CN 113064653 A CN113064653 A CN 113064653A
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location information
point location
carrier
points
carried
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CN113064653B (en
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张锴
任永超
王健
陈澍
牛犇
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Luckygeo Beijing Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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Abstract

The application discloses a method and a device for guiding a carried object, a storage medium and a server. The guiding method comprises the following steps: acquiring characteristic point location information on a carrier and a carried object, wherein the carrier is used for carrying the carried object; determining the offset of the carried object based on the feature point location information; and generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body. This application has solved because need the manual work to look for the precision that the supporting body caused by the carrier and hardly guarantee, and is efficient, and manpower and time technical problem with high costs.

Description

Method and device for guiding carried object, storage medium and server
Technical Field
The present application relates to the field of automatic control, and in particular, to a method and an apparatus for guiding a supported object, a storage medium, and a server.
Background
The inventors have found that, in order to achieve control and guidance of the supported body, the operator visually observes and carries out corresponding control. However, the direction and position of the carried object cannot be obtained in real time, manual operation is slow, the carried object cannot be automatically controlled to find the target and guide, precision is difficult to guarantee, observation is complex, high labor cost and time cost are needed, and accidents are easy to happen.
Aiming at the problems that in the related art, the precision caused by the fact that a carrier needs to be manually searched for a bearing body is difficult to guarantee, the efficiency is low, and the labor cost and the time cost are high, an effective solution is not provided at present.
Disclosure of Invention
The application mainly aims to provide a guided method, a guided device, a storage medium and a server for a carried object, so as to solve the problems that precision is difficult to guarantee, efficiency is low, and labor and time costs are high because the carried object needs to manually find a carrying body.
In order to achieve the above object, according to one aspect of the present application, there is provided a method of guiding a supported body.
The guided body guiding method according to the present application includes: acquiring characteristic point location information on a carrier and a carried object, wherein the carrier is used for carrying the carried object; determining the offset of the carried object based on the feature point location information; and generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body.
Further, acquiring the feature point location information on the carrier and the supported object includes: receiving point location information measured by two positioning points arranged on a carrier and GNSS terminals at two entrance points; and receiving point location information measured by the GNSS terminals arranged at the two positioning points and the four corner points on the carrier.
Further, acquiring the feature point location information on the carrier and the supported object includes: receiving point location information measured by a GNSS terminal of two location points arranged on a carrier; receiving point location information measured by two positioning point GNSS terminals arranged on a carried body; and estimating the point location information of two entry points and the point location information of four corner points on the bearing body according to the measured point location information and the preset point location relation.
Further, determining the offset of the carried object based on the feature point location information includes: converting the feature point location information to the same station center coordinate system by adopting a preset coordinate conversion algorithm; and determining the deflection angle and the moving distance of the carried object based on the converted feature point location information.
In order to achieve the above object, according to another aspect of the present application, there is provided a guide device of a supported body.
The guided device of the supported body according to the application comprises: the device comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring characteristic point location information on a carrier and a carried body, and the carrier is used for carrying the carried body; the determining module is used for determining the offset of the carried object based on the feature point location information; and the generating module is used for generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body.
Further, the obtaining module includes: receiving point location information measured by two positioning points arranged on a carrier and GNSS terminals at two entrance points; and receiving point location information measured by the GNSS terminals arranged at the two positioning points and the four corner points on the carrier.
Further, the obtaining module further includes: receiving point location information measured by a GNSS terminal of two location points arranged on a carrier; receiving point location information measured by two positioning point GNSS terminals arranged on a carried body; and estimating the point location information of two entry points and the point location information of four corner points on the bearing body according to the measured point location information and the preset point location relation.
Further, the determining module includes: converting the feature point location information to the same station center coordinate system by adopting a preset coordinate conversion algorithm; and determining the deflection angle and the moving distance of the carried object based on the converted feature point location information.
In the embodiment of the application, a mode of automatically guiding a carried object is adopted, and the information of the point locations of the characteristic points on the carrying body and the carried object is obtained, wherein the carrying body is used for carrying the carried object; determining the offset of the carried object based on the feature point location information; generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body; the purpose of automatic guide by the carrier to the supporting body in has been reached to realized having improved the guide precision, promoted guide efficiency, and saved the technical effect of manpower and time cost, and then solved because the precision that needs the manual work to look for the supporting body to cause by the carrier is difficult to be guaranteed, inefficiency, and manpower and time cost high technical problem.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic flow diagram of a boot method according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a guide device according to an embodiment of the present application;
fig. 3(a) -3 (p) are schematic diagrams illustrating conversion of feature point points of a carrier and a supported body according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientation or position information relationships based on the orientation or position information relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
In addition, the above partial terms may be used to indicate other meanings besides the orientation or point information relationship, for example, the term "up" may also be used to indicate some attaching relationship or connecting relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to an embodiment of the present invention, there is provided a method for guiding a supported object, as shown in fig. 1, the method including steps S101 to S103 as follows:
step S101, obtaining characteristic point location information on a carrier and a carried object, wherein the carrier is used for carrying the carried object;
in this embodiment, the carrier is a carrier ship, and the carried body is a bridge girder erection vehicle; the bridge girder erection vehicle is used for quickly erecting a bridge, and the bridge girder erection vehicle is required to be guided to a bearing ship when the bridge girder erection vehicle works. As shown in fig. 3(a), in order to automatically guide the bridge girder erection vehicle into the carrier ship, the following two purposes need to be achieved: the corner of the bridge girder erection vehicle is not allowed to collide with the inner edge of the entrance of the bearing ship; the moving direction of the bridge girder erection vehicle is aligned with the entrance of the bearing ship; therefore, characteristic point positions of the inlet inner edge (A, B) of the bearing ship and the corners (a, b, c and d) of the bridge girder erection vehicle, which can be identified by a computer, are required to be obtained for ensuring that the corners of the bridge girder erection vehicle do not collide with the inlet inner edge of the bearing ship; it is also necessary to obtain and calculate at least two location points (OA, OB) on the identified carrier and at least two location points (OA, OB) on the bridge girder for aligning the direction of movement of the bridge girder to the entrance of the carrier.
According to the embodiment of the present invention, preferably, the acquiring the feature point location information on the carrier and the supported object includes: receiving point location information measured by two positioning points arranged on a carrier and GNSS terminals at two entrance points; and receiving point location information measured by the GNSS terminals arranged at the two positioning points and the four corner points on the carrier. Before the bridge girder erection vehicle is controlled to work, calibration is needed, and the method comprises the following specific steps: the GNSS terminals with high-precision positioning effect are respectively arranged at four corner points and two positioning points of the bridge girder erection vehicle, and two inlets and two positioning points of the bearing ship to collect the point positions; and transmitting the acquired point location information to a server or a local large computer for processing in a wireless transmission mode.
In this embodiment, preferably, after obtaining the point locations, the server or the local mainframe computer calculates the relative relationship between the four corner points on the bridge crane and the two positioning points, and then calculates the relative relationship between the two positioning points on the carrier ship and the two entry points, that is, the point location relationship is preset, and the method can be used for estimating the remaining feature point locations by detecting only the two positioning point locations.
According to the embodiment of the present invention, preferably, the acquiring the feature point location information on the carrier and the supported object includes:
receiving point location information measured by a GNSS terminal of two location points arranged on a carrier; receiving point location information measured by two positioning point GNSS terminals arranged on a carried body;
and estimating the point location information of two entry points and the point location information of four corner points on the bearing body according to the measured point location information and the preset point location relation.
When the bridge girder erection vehicle is controlled to work, under the influence of factors such as water flow, wind, control errors and the like, the bridge girder erection vehicle and the bearing ship can deviate from the position during calibration, and the bridge girder erection vehicle still has the possibility of colliding the inner edge of the inlet of the bearing ship and also has the possibility of deviating from the direction of aligning the inlet of the bearing ship; in order to avoid the above situation, it is also necessary to obtain the feature point location information again during the movement.
In this embodiment, only the GNSS terminals arranged at the two positioning points of the carrier ship and the GNSS terminals arranged at the two positioning points of the bridge girder erection vehicle are required to measure the corresponding point location information, and then two entry point locations of the carrier ship and four corner point locations of the bridge girder erection vehicle can be estimated according to the point location relationship obtained by calculation during calibration.
The specific calculation process is as follows:
and establishing an OA-ENU coordinate system by taking the OA point on the ship body as a reference point and the OA as an origin, and obtaining the coordinates of the OB in the OA-ENU coordinate system. OA (000),
Figure BDA0003009287020000061
Because the axial direction of the OA-ENU coordinate system is always kept unchanged, the included angle between the OAOB and the E axis at the moment can be calculated
Figure BDA0003009287020000062
(FIG. 3(b)) and the angle α between the OAOB and the E-axis obtained by calibrationOAOBAngle between them delta alphaOAOB (3(c))。
Figure BDA0003009287020000063
Since the GNSS devices are not installed in a '(a) and B' (B), the position coordinates thereof cannot be obtained in real time, and a 'and B' need to be estimated using the relative relationship obtained in calibration. Because the ship body rotates by an angle delta alpha by taking OA as an origin during relative and calibrationOAOBSo as to align A (E) calculated at the time of calibrationA NA UA) And B (E)B NB UB) The point coordinates are rotated to obtain the coordinates of A 'and B'. Taking point B' as an example, the calculation is performed (3 (d)).
Figure BDA0003009287020000064
The same can be obtained by taking the lower point of the system as the coordinate
Figure BDA0003009287020000065
In this way, the estimation of two entry point locations on the carrier ship in a specific coordinate system is achieved.
And establishing an OA-ENU coordinate system by taking the OA point on the ship body as a reference point and the OA as an origin, and obtaining the coordinates of the OA and the Ob under the OA-ENU coordinate system.
Figure BDA0003009287020000066
Because the axial direction of the Oa-ENU coordinate system is always kept unchanged, the included angle between the OaOb and the E axis at the moment can be calculated
Figure BDA0003009287020000071
(FIG. 3(E)) and the angle α between OaOb and E-axis obtained by calibrationOAOBAngle between them delta alphaOAOB(FIG. 3 (f)). The translation amount Delta of the Oa point and the Oa point during calibration can be calculatedoa。
Figure BDA0003009287020000072
Due to a '(a), b' (b),c '(c) and d' (d) are not provided with the GNSS devices, so that the position coordinates of the GNSS devices cannot be obtained in real time, and a ', b', c 'and d' need to be calculated by using the relative relationship obtained in calibration. Because the car body is relatively translated by delta by taking Oa as an origin in calibrationoaAfter rotated by an angle delta alphaOAOB(FIG. 3 (g)).
And establishing a station center coordinate system Oa' -ENU by taking the Oa as an origin. Because the coordinates of the on-board point in the calibration under the Oa-ENU coordinate system are as follows:
Figure BDA0003009287020000073
at the moment, the calibration coordinate system Oa-ENU rotates by an angle delta alpha relative to the coordinate Oa' -ENUOAOBThe coordinates at this time in the Oa' -ENU coordinate system are obtained.
Figure BDA0003009287020000074
Figure BDA0003009287020000075
Passing the coordinate under the Oa' -ENU through the translation amount deltaoa′The coordinates in the station center coordinate system OA-ENU are established by taking OA as the origin, so that
Figure BDA0003009287020000076
Obtaining six point coordinates under an OA-ENU coordinate system:
Figure BDA0003009287020000077
Figure BDA0003009287020000078
Figure BDA0003009287020000079
Figure BDA00030092870200000710
Figure BDA00030092870200000711
Figure BDA0003009287020000081
thus, the four corner point positions on the bridge girder erection vehicle under the specific coordinate system are estimated.
S102, determining the offset of a carried object based on the feature point location information;
according to the embodiment of the present invention, preferably, determining the offset of the supported object based on the feature point location information includes:
converting the feature point location information to the same station center coordinate system by adopting a preset coordinate conversion algorithm;
and determining the deflection angle and the moving distance of the carried object based on the converted feature point location information.
In order to facilitate the determination of the subsequent offset, accurate parameter guarantee is provided for the control of the bridge girder erection vehicle; all feature point locations need to be converted into the same station center coordinate system by adopting a preset coordinate conversion algorithm.
In a specific embodiment, in the calibration performed before the control of the bridge girder erection vehicle, two positioning point locations and two entry point locations of the carrier ship, and two positioning point locations and four corner point locations of the bridge girder erection vehicle can be directly detected and obtained through the GNSS terminal; the point positions are coordinates in a world coordinate system, so that the calculation is very difficult, and the burden is invisibly added to a computer; therefore, in the present embodiment, a preset coordinate conversion algorithm is used for coordinate conversion.
Specifically, after selecting the OA point on the carrier ship as a reference point, the GNSS device is positioned, and the OA point is used as an origin to establish the station center coordinate system OA-ENU (fig. 3 (h)). And another GNSS device is sequentially arranged at A, B and OB points and finally fixed at the OB point. And obtaining coordinates under an OA-ENU coordinate system.
OA(0 0 0)
OB(EOB NOB UOB)
A(EA NA UA)
B(EB NB UB)
Calculating the included angle alpha between the vector OAOB and the E axisOAOB(FIG. 3(i)), an included angle α between the vector AB and the E axis is calculatedAB(FIG. 3 (i)).
Figure BDA0003009287020000082
Figure BDA0003009287020000091
The hull acquires a new coordinate system (fig. 3(k)) by establishing a coordinate system a-ENU with a as the origin and AB as the reference direction (E-axis), translating OA, OB, a and B into the coordinate system a-BMU by translation and rotation (fig. 3 (j)).
Translation: the origin OA is translated to point a under OA-ENU, and the amount of translation Δ ═ E (E)A NA UA)
The set of point coordinates is obtained as:
OA(0-EA 0-NA 0-UA)＝(E′A N′A U′A)
OB(EOB-EA NOB-NA UOB-UA)＝(E′OB N′OB U′OB)
A(0 0 0)
B(EB-EA NB-NA UB-UA)＝(E′B N′B U′B)
rotating: rotating the coordinate system of the point A at the origin by alphaABAnd obtaining the coordinates of the group of point positions in the A-BMU as follows: to be provided withPoint B is taken as an example.
Figure BDA0003009287020000092
The coordinates of the lower points of the system can be obtained in the same way:
OA(E″OA N″OA U″OA)
OB(E″OB N″OB U″OB)
A(0 0 0)
B(E″B N″B U″B)
the conversion of the point positions of each characteristic point on the bearing ship before the bridge girder erection vehicle works is realized.
And sequentially arranging another GNSS device at the four corner points a, b, c and d of the bridge erecting vehicle, and finally respectively arranging the GNSS devices at the point Oa and the point Ob, wherein the point Oa is used as a reference point of the vehicle body.
And obtaining six point coordinates under the OA-ENU coordinate system.
a(Ea Nb Uc)、b(Eb Nb Ub)
c(Ec Nc Uc)、d(Ed Nd Ud)
Oa(EOa NOa UOa)、Ob(EOb NOb UOb)
Calculating the included angle alpha between the vector OaOb and the E axisOaOb(FIG. 3(l))
Figure BDA0003009287020000101
And establishing a station center coordinate system Oa-ENU by taking the Oa as an origin, and determining the relative relation between each point. Coordinates of points on the vehicle under the Oa-ENU coordinate system are obtained, and the relative relationship between the points in the vehicle and the translation amount of the points are determined
Δoa＝(EOa NOa UOa)
The set of point coordinates is obtained as:
Figure BDA0003009287020000102
Figure BDA0003009287020000103
Figure BDA0003009287020000104
Figure BDA0003009287020000105
Figure BDA0003009287020000106
Figure BDA0003009287020000107
the vehicle body acquires a new coordinate system (fig. 3(n)) by establishing a coordinate system a-ENU with the ship a as the origin and the ship AB as the reference direction (E axis), and converting Oa, Ob, a, b, c, and d into the coordinate system a-BMU through translation and rotation (fig. 3 (m)).
The coordinates obtained by calculation (the calculation method is the same as the above calculation method, and is not described here) are:
Oa(E″a N″a U″a)
Ob(E″Ob N″Ob U″Ob)
a(E″a N″a U″a)
b(E″b N″b U″b)
c(E″c N″c U″c)
d(E″d N″d U″d)
the conversion of the point positions of the characteristic points on the bridge erecting vehicle before the bridge erecting vehicle works is realized.
In another specific embodiment, in the process of controlling the bridge girder erection vehicle to work, two positioning point locations of the bearing ship and two positioning point locations of the bridge girder erection vehicle can be directly detected and obtained through the GNSS terminal, and then two entry point locations of the bearing ship and four corner point locations of the bridge girder erection vehicle can be estimated according to the point location relationship obtained through calculation during calibration; the point positions are coordinates in a world coordinate system, so that the calculation is very difficult, and the burden is invisibly added to a computer; therefore, in the present embodiment, a preset coordinate conversion algorithm is used for coordinate conversion.
Specifically, a coordinate system A '-ENU is established with A' as the origin and A 'B' as the reference direction (E-axis), by translating Δ and rotating αA′B′The hull acquires a new coordinate system by converting OA, OB, a and B into this coordinate system a' -BMU (fig. 3 (o)).
Δ＝(EA NA UA)
Figure BDA0003009287020000111
The calculation can obtain the coordinates of the point position under the coordinate system A '-ENU by taking A' as an origin and A 'B' as a reference direction (E axis):
Figure BDA0003009287020000112
Figure BDA0003009287020000113
A(0 0 0)
Figure BDA0003009287020000114
coordinates A ' and B ' of the hull on the center of the station center coordinate system OA-ENU with OA as origin are calculated with reference to a coordinate conversion algorithm in calibration performed before control of the bridge girder erection vehicle '
Figure BDA0003009287020000115
Figure BDA0003009287020000116
The included angle of A 'B' and E axis.
Figure BDA0003009287020000117
The point-to-point conversion of the characteristic points on the bearing ship is realized when the bridge girder erection vehicle works.
The coordinates of the point positions of the vehicle body under the OA-ENU coordinate system are converted to be under an established coordinate system A '-ENU with A' as an origin and A 'B' as a reference direction (E axis) by referring to a coordinate conversion algorithm in calibration performed before controlling the operation of the bridge-erecting vehicle. The coordinates are:
Figure BDA0003009287020000121
Figure BDA0003009287020000122
Figure BDA0003009287020000123
Figure BDA0003009287020000124
Figure BDA0003009287020000125
Figure BDA0003009287020000126
the point-to-point conversion of the characteristic points on the bridge girder erection vehicle is realized when the bridge girder erection vehicle works.
As shown in fig. 3(p), the converted feature point locations can effectively reduce the complexity of calculation, and provide a quick response for guiding the bridge girder erection vehicle. Specifically, in the transformed coordinate system, the point of entry point (a, B) or (a ', B') of the load-bearing vessel lies on the longitudinal axis, with the entry facing in the opposite direction to the transverse axis.
In this embodiment, the determining the deflection angle and the movement distance of the supported object based on the converted feature point location information specifically includes the following steps:
s1, four corner point positions (a, B, c, d) or (a ', B', c ', d') of the bridge girder erection vehicle are known, and the entry point position (A, B) or (A ', B') of the bearing ship is known;
s2, taking an included angle between the AB or A 'B' vector and the AB vector or the a 'B' vector as a deflection angle, and calculating four deflected corner point positions (a ', B', c ', d');
s3 judging in which quadrant (a ", b", c ", d") is located, if it is completely in the second quadrant, calculating the abscissa distance (the direction of movement is the direction of abscissa) and the ordinate distance-preset margin (the direction of movement is the direction of ordinate) of d "(x 1, y1) and the origin;
s4 if it is partially in the third quadrant, partially in the second quadrant or completely in the third quadrant, calculating the abscissa distance (the direction of movement in the horizontal axis direction) and the ordinate distance + a preset margin (the direction of movement in the vertical axis direction) of d "(x 1, y1) and the origin;
s5, if the motion vector is completely in the first quadrant, or partially in the second quadrant, partially in the first quadrant, or partially in the fourth quadrant, and partially in the first quadrant, calculating the sum of the distance between the origin and the vector B or B ', a ' B ' and the distance between the preset margins (the longitudinal axis direction is the motion direction), and then calculating the abscissa distance between a "(x 3, y3) and the origin + the preset margins (the opposite direction of the horizontal axis is the motion direction), so as to draw a first motion track, and moving the first motion track into the first quadrant;
if the motion vector is completely in the fourth quadrant or partially in the fourth quadrant and partially in the third quadrant, S6 is drawn into a second motion trajectory by first calculating the sum of the distance between the origin and the vector B or B', a "B" and the distance between the predetermined margin (the direction opposite to the vertical axis is the motion direction), and then calculating the abscissa distance between a "(x 3, y3) and the origin + the predetermined margin (the direction opposite to the horizontal axis is the motion direction), and moving the second motion trajectory into the third quadrant.
And S103, generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried object to move into the carrying object.
And S10, generating an instruction according to the calculated deflection angle, and controlling the bridge erecting vehicle to rotate to the direction of the transverse axis.
S20, generating an instruction according to the calculated S3 abscissa distance (the direction of the abscissa is taken as the motion direction) and the calculated ordinate distance-preset allowance (the direction of the ordinate is taken as the motion direction), controlling the bridge girder erection vehicle to rotate to the direction opposite to the direction of the ordinate, then moving the ordinate distance-preset allowance, then rotating to the direction of the abscissa, and finally moving the abscissa distance to finish automatically guiding the bridge girder erection vehicle to the bearing ship;
or S30 generates an instruction according to the calculated S4 abscissa distance (the abscissa direction is taken as the motion direction) and the ordinate distance + the preset allowance (the ordinate direction is taken as the motion direction), controls the bridge girder erection vehicle to rotate to the ordinate direction, then moves the ordinate distance + the preset allowance, then rotates back to the abscissa direction, and finally moves the abscissa distance, and finishes automatically guiding the bridge girder erection vehicle to the bearing ship;
or S40 generates a control instruction according to the first motion track, controls the bridge-erecting vehicle to rotate to the direction of the longitudinal axis according to the track, then moves the sum of the distances, then rotates to the direction opposite to the transverse axis, and finally moves the distance of the transverse coordinate in S5 plus a preset allowance, so that the bridge-erecting vehicle is guided to the first quadrant; and then, the steps S101-S102, S10 and S20 are executed to finish automatically guiding the bridge erecting vehicle to the bearing ship.
Or S50 generates a control instruction according to the second motion track, controls the bridge-erecting vehicle to rotate to the opposite direction of the longitudinal axis according to the track, then moves the sum of the distances, then rotates to the opposite direction of the transverse axis, and finally moves the distance of the transverse coordinate in S6 plus a preset allowance, so that the bridge-erecting vehicle is guided to the first quadrant; and then, the steps S101-S102, S10 and S30 are executed to finish automatically guiding the bridge erecting vehicle to the bearing ship.
Obviously, no matter which direction the bridge girder erection vehicle is on the bearing ship, the bridge girder erection vehicle can be automatically guided into the bearing ship through the control; the guiding precision is very high, because a plurality of point positions are collected as reference and are matched with corresponding algorithms for processing; the efficiency is high, the labor cost and the time cost are greatly saved, and the whole process is guided by a computer matched with a GNSS terminal because the observation and the control do not need to be manually intervened.
From the above description, it can be seen that the present invention achieves the following technical effects:
in the embodiment of the application, a mode of automatically guiding a carried object is adopted, and the information of the point locations of the characteristic points on the carrying body and the carried object is obtained, wherein the carrying body is used for carrying the carried object; determining the offset of the carried object based on the feature point location information; generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body; the purpose of automatic guide by the carrier to the supporting body in has been reached to realized having improved the guide precision, promoted guide efficiency, and saved the technical effect of manpower and time cost, and then solved because the precision that needs the manual work to look for the supporting body to cause by the carrier is difficult to be guaranteed, inefficiency, and manpower and time cost high technical problem.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present invention, there is also provided an apparatus for implementing the above method for guiding a supported body, as shown in fig. 2, the apparatus including: an obtaining module 100, configured to obtain feature point location information on a carrier and a supported object, where the carrier is used to carry the supported object; a determining module 200, configured to determine an offset of a carried object based on the feature point location information; a generating module 300, configured to generate a control instruction according to the offset, where the control instruction is used to guide the carried to move into the carrying body. The same technical effect as the method can be achieved.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit 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.

Claims (10)

1. A method of guiding a supported object, comprising:
acquiring characteristic point location information on a carrier and a carried object, wherein the carrier is used for carrying the carried object;
determining the offset of the carried object based on the feature point location information;
and generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body.
2. The guiding method according to claim 1, wherein the obtaining of the feature point location information on the carrier and the supported object comprises:
receiving point location information measured by two positioning points arranged on a carrier and GNSS terminals at two entrance points; and receiving point location information measured by the GNSS terminals arranged at the two positioning points and the four corner points on the carrier.
3. The guiding method according to claim 1, wherein the obtaining of the feature point location information on the carrier and the supported object comprises:
receiving point location information measured by a GNSS terminal of two location points arranged on a carrier; receiving point location information measured by two positioning point GNSS terminals arranged on a carried body;
and estimating the point location information of two entry points and the point location information of four corner points on the bearing body according to the measured point location information and the preset point location relation.
4. The guidance method according to claim 1, wherein determining an offset amount of the carried body based on the feature point location information includes:
converting the feature point location information to the same station center coordinate system by adopting a preset coordinate conversion algorithm;
and determining the deflection angle and the moving distance of the carried object based on the converted feature point location information.
5. A guided apparatus for a supported object, comprising:
the device comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring characteristic point location information on a carrier and a carried body, and the carrier is used for carrying the carried body;
the determining module is used for determining the offset of the carried object based on the feature point location information;
and the generating module is used for generating a control instruction according to the offset, wherein the control instruction is used for guiding the carried body to move into the carrying body.
6. The guidance device of claim 1, wherein the acquisition module comprises:
receiving point location information measured by two positioning points arranged on a carrier and GNSS terminals at two entrance points; and receiving point location information measured by the GNSS terminals arranged at the two positioning points and the four corner points on the carrier.
7. The guidance device of claim 1, wherein the acquisition module further comprises:
receiving point location information measured by a GNSS terminal of two location points arranged on a carrier; receiving point location information measured by two positioning point GNSS terminals arranged on a carried body;
and estimating the point location information of two entry points and the point location information of four corner points on the bearing body according to the measured point location information and the preset point location relation.
8. The guidance device of claim 1, wherein the determination module comprises:
converting the feature point location information to the same station center coordinate system by adopting a preset coordinate conversion algorithm;
and determining the deflection angle and the moving distance of the carried object based on the converted feature point location information.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to execute the supported boot method of any of claims 1 to 5 when executed.
10. A server, comprising: memory and a processor, characterized in that the memory has stored therein a computer program, wherein the processor is arranged to execute the computer program to perform the method of booting the supported object of any of the claims 1 to 5.
CN202110374820.7A 2021-04-07 2021-04-07 Method and device for guiding supported body, storage medium and server Active CN113064653B (en)

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