CN113443555B - Method for determining grab bucket position, grab bucket position detection method and storage medium - Google Patents
Method for determining grab bucket position, grab bucket position detection method and storage medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Abstract
The application discloses a method for determining the position of a grab bucket by using a laser, which comprises the following steps: receiving coordinate data output after the grab bucket is scanned by the laser, wherein the coordinate data comprises a plurality of first coordinates; converting each first coordinate from a spherical coordinate form into a three-dimensional rectangular coordinate form; acquiring the vertical distance between the grab bucket and the trolley mechanism and the position coordinate of the trolley mechanism; calculating a first distance between a position point corresponding to each first coordinate and the trolley mechanism according to each first coordinate and the position coordinate; respectively obtaining weighting operator function values corresponding to the first coordinates according to the weighting operator functions; for each first coordinate, calculating a grab bucket point probability factor value corresponding to the first coordinate according to the vertical distance, the first distance corresponding to the coordinate and the weighting operator function value; and acquiring the position coordinates of the grab bucket target point according to the grab bucket point probability factor value. The method can realize accurate positioning of the grab bucket. The application also provides a grab bucket position detection method and a computer readable storage medium.
Description
Technical Field
The application relates to the field of laser technology application, in particular to a method for determining a grab bucket position, a grab bucket position detection method and a storage medium.
Background
Because the accurate location to grab bucket position can not effectively be realized at present, therefore the grab bucket anticollision of present grab bucket ship unloader mainly relies on grab bucket anti-shake control technique, people's eye observation and experience judgement, when the appearance prevents shaking effect is not good, judge inaccurate or react untimely etc. arbitrary circumstances, then take place grab bucket collision accident very easily, this makes operating personnel be in high tension state for a long time, and also has huge potential safety hazard to equipment and ship.
Disclosure of Invention
The application aims to solve the technical problem that the ship unloader has huge potential safety hazard due to the fact that the grab cannot be accurately positioned in the prior art. The application provides a method for determining the position of a grab bucket by using a laser, which can accurately grab the position coordinates of a target point of the grab bucket from position data output by the laser, thereby realizing accurate positioning of the grab bucket.
Based on this, embodiments of the present application disclose a method of determining grapple position using a laser for a bridge crane apparatus including a cart mechanism, a trolley mechanism, and a grapple. The method for determining the position of the grab bucket by using the laser comprises the following steps:
receiving coordinate data output after the grab bucket is scanned by the laser, wherein the coordinate data comprises a plurality of first coordinates;
converting each first coordinate from a spherical coordinate form into a three-dimensional rectangular coordinate form under a preset rectangular coordinate system;
acquiring a vertical distance between the grab bucket and the trolley mechanism and a position coordinate of the trolley mechanism in a preset rectangular coordinate system;
calculating a first distance between a position point corresponding to each first coordinate and the trolley mechanism according to the first coordinates and the position coordinates of the trolley mechanism;
constructing a weighting operator function, and respectively acquiring weighting operator function values corresponding to the first coordinates according to the weighting operator function;
for each first coordinate, calculating a grab bucket point probability factor value corresponding to the first coordinate according to the vertical distance, the first distance corresponding to the coordinate and the weighting operator function value;
and acquiring the position coordinates of the grab bucket target point according to the grab bucket point probability factor value.
According to another embodiment of the present application, for each first coordinate, calculating a grapple point likelihood factor value corresponding to the first coordinate from the vertical distance, the first distance corresponding to the coordinate, and the weighting operator function value includes:
acquiring a distance factor value corresponding to each first coordinate according to the first distance and the vertical distance corresponding to each first coordinate;
acquiring a grab bucket point process factor value corresponding to each first coordinate according to the distance factor value corresponding to each first coordinate and the effective detection factor of the laser;
and convolving the grab bucket point process factor value corresponding to each first coordinate with the weighting operator function value to obtain the grab bucket point probability factor value corresponding to the first coordinate.
According to another embodiment of the present application, the calculation formula of the distance factor value is:
where ln () represents a logarithmic function, p (i) represents a distance factor value corresponding to the ith first coordinate in the coordinate data, D Grab (i) Represents a first distance between the position point corresponding to the ith first coordinate and the trolley mechanism, L Grab Represents the vertical distance between the grab and the trolley, c 1 Represents an adjustable parameter, and c 1 ＞0；
The effective detection factors are:
wherein v (i) represents an effective detection factor value corresponding to the ith first coordinate, limYmin, limYmax represents a minimum detection position coordinate and a maximum detection position coordinate of the laser in a y direction in a preset rectangular coordinate system respectively, limZmin, limZmax represents a minimum detection position coordinate and a maximum detection position coordinate of the laser in a z direction in the preset rectangular coordinate system respectively, and y (i) and z (i) represent y coordinates and z coordinates of the ith first coordinate respectively;
the grab bucket point process factors are as follows:
h(i)＝v(i)·p(i)
wherein h (i) represents a grapple point process factor value corresponding to the ith first coordinate, v (i) represents an effective detection factor value corresponding to the ith first coordinate, and p (i) represents a distance factor value corresponding to the ith first coordinate.
According to another embodiment of the application, the calculation formula of the grab point likelihood factor value is:
the calculation symbol represents convolution, and f (i), g (i) and h (i) respectively represent a grab bucket point probability factor value, a weighting operator function value and a grab bucket process factor value corresponding to the ith first coordinate;m represents the effective detection point of the laser.
According to another embodiment of the present application, the calculation formula of the effective detection point M is:
wherein tan is -1 () Representing the inverse of the trigonometric function, D representing the length of the grapple in the laser scan direction, L representing the laser-to-grapple distance, and θ representing the angular resolution of the laser.
According to another embodiment of the application, the weighting operator function is:
wherein g (i) represents a weighting operator function value corresponding to the ith first coordinate, sigma represents an adjustment parameter of the weighting operator function, and i represents a serial number of the first coordinate.
According to another embodiment of the present application, obtaining the grapple target point position coordinates from the grapple point likelihood factor values includes:
obtaining the maximum value of the probability factor values of each grab bucket point, and obtaining a first coordinate corresponding to the maximum value as a first intermediate coordinate;
comparing the z coordinates of the first coordinates, and taking the first coordinates where all z coordinates with the maximum value are respectively located as second intermediate coordinates;
for all the second intermediate coordinates, respectively calculating a first difference value between the y coordinate of each second intermediate coordinate and the y coordinate of the first intermediate coordinate and a second difference value between the z coordinate of each second intermediate coordinate and the z coordinate of the first intermediate coordinate;
and respectively comparing the first difference value and the second difference value corresponding to the second intermediate coordinates with the first tolerance value and the second tolerance value to obtain second intermediate coordinates which simultaneously meet the condition that the first difference value is smaller than the first tolerance value and the second difference value is smaller than the second tolerance value, and taking the second intermediate coordinates as the position coordinates of the grab bucket target point.
According to another embodiment of the application, the first tolerance value is equal to the maximum grapple opening size and the second tolerance value is equal to the maximum grapple height.
Accordingly, embodiments of the present application also disclose a computer readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the above-mentioned method of determining grapple position using a laser.
Correspondingly, the embodiment of the application also discloses a grab bucket position detection method which is used for bridge type lifting equipment, wherein the bridge type lifting equipment comprises a cart mechanism, a trolley mechanism and a grab bucket, and the grab bucket position detection method comprises the following steps:
two lasers are respectively arranged on the hoisting equipment;
the two lasers scan the grab bucket at the same time and respectively output coordinate data;
based on the method for determining the position of the grab bucket by using the lasers, acquiring the position coordinate of the target point of the first grab bucket according to the coordinate data output by one of the lasers, and acquiring the position coordinate of the target point of the second grab bucket according to the coordinate data output by the other laser;
and acquiring the position coordinates of the grab bucket according to the position coordinates of the first grab bucket target point and the position coordinates of the second grab bucket target point.
According to another embodiment of the application, the grapple position coordinates are:
wherein, (X Grab ，Y Grab ，Z Grab ) X is the position coordinate of the grab bucket Grab 、Y Grab 、Z Grab Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the grab bucket; (X) 1 ，Y 1 ，Z 1 ) X is the position coordinate of the first grab target point 1 、Y 1 、Z 1 Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the first grab bucket target point; (X) 2 ，Y 2 ，Z 2 ) X is the position coordinate of the target point of the second grab bucket 2 、Y 2 、Z 2 Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the second grab bucket target point; k (k) 1 、k 2 Is a weight factor, and k 1 ＞0，k 2 ＞0。
Accordingly, the embodiment of the application also discloses a computer readable storage medium, wherein the computer readable storage medium stores instructions which when executed on a computer cause the computer to execute the grab bucket position detection method.
Compared with the prior art, the application has the following technical effects:
according to the application, the coordinates of each position on the surface of the grab bucket are obtained by using the laser, the grab bucket point probability factor value corresponding to each first coordinate point is obtained by using the weighting operator and each coordinate, the most suitable first coordinate is selected as the grab bucket point target position coordinate according to all the grab bucket point probability factor values, the accurate positioning of the grab bucket position is realized, further, whether the grab bucket can safely enter and exit the cabin operation is automatically judged according to the grab bucket position, and closed-loop control is realized on the grab bucket by comparing the relative positions of the grab bucket and the trolley mechanism, so that convenience is provided for further improving the anti-shaking safety performance of the ship unloading operation of the bridge type grab bucket ship unloader, and convenience is provided for further improving the automation degree of the grab bucket ship unloader and reducing the labor intensity of operators.
Drawings
FIG. 1 illustrates a flow chart of a method for determining grapple position using a laser according to an embodiment of the present application;
FIG. 2 shows a schematic view of a part of the structure of the grab ship unloader of the present application;
FIG. 3 shows a schematic diagram of an electronic device of the present application;
fig. 4 shows a schematic diagram of the system on chip of the present application.
Detailed Description
Further advantages and effects of the present application will become apparent to those skilled in the art from the disclosure of the present specification, by describing the embodiments of the present application with specific examples. While the description of the application will be described in connection with the preferred embodiments, it is not intended to limit the inventive features to the implementation. Rather, the purpose of the application described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the application. The following description contains many specific details for the purpose of providing a thorough understanding of the present application. The application may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that in this specification, like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present embodiment, it should be noted that the terms "first," "second," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present embodiment, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present embodiment can be understood in a specific case by those of ordinary skill in the art.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The application provides a method for determining the position of a grab bucket by using a laser of a transport vehicle, which can be applied to a transport system comprising a vehicle management system, a wharf operation management system and the transport vehicle. The transport vehicle can be an IGV, the vehicle management system is respectively in communication connection with the transport vehicle and the dock operation management system, and the vehicle management system can receive the operation instruction issued by the dock operation management system and control the transport vehicle to travel to a designated area (the designated area is taken as a lock button dismounting area for illustration below) to work. In the method, the vehicle management system stores position information of parking spaces in the first waiting area, the second waiting area and the third waiting area. Further, the vehicle management system may store position information of all parking spaces in the first waiting area, the second waiting area, and the third waiting area.
As shown in fig. 1, the present application provides a method of determining grapple position using a laser that may be used to determine grapple position in a bridge crane apparatus that includes a cart mechanism, a trolley mechanism, and a grapple. Specifically, the bridge crane may be a grab ship unloader. Specifically, the method may comprise the steps of:
step S1: and receiving coordinate data output after the grab bucket is scanned by the laser, wherein the coordinate data comprises a plurality of first coordinates.
Specifically, as shown in fig. 2, the laser 1 is mounted on the top of the hoisting device, and the grab bucket 2 is scanned by the laser 1 to output coordinate data. Furthermore, the position detection by the laser needs to be calibrated regularly to ensure accurate measurement. Specifically, the calibration method may be: when the laser is put down in pitching, the ground is used as a marker, the least square method is used for fitting the laser point cloud at the ground position, and the angle between the straight line and the horizontal is the rotation angle compensation quantity during Euler angle rotation in the coordinate conversion algorithm.
Step S2: and converting each first coordinate from a spherical coordinate form into a three-dimensional rectangular coordinate form under a preset rectangular coordinate system.
Specifically, the spherical coordinates are expressed in the form ofThe three-dimensional rectangular coordinates are expressed in the form of (x, y, z), and the conversion relationship between the spherical coordinates and the three-dimensional rectangular coordinates is as follows:
the preset rectangular coordinate system can be set according to the specific environment where the hoisting equipment is located. For example, a point in the area where the hoisting device is located may be selected as an origin, the direction of the running track of the cart mechanism is taken as an x-axis, the running direction of the cart mechanism is taken as a y-axis, and the lifting direction of the grab bucket is taken as a z-axis to establish a preset rectangular coordinate system.
Step S3: and acquiring the vertical distance between the grab bucket and the trolley mechanism and the position coordinate of the trolley mechanism in a preset rectangular coordinate system.
Specifically, as shown in FIG. 2, the vertical distance L between the grapple and the trolley mechanism Grab Specifically, the vertical distance L from the bottom end of the grab bucket to the trolley mechanism Grab Equal to the distance H from the trolley mechanism to the ground Trolley And the lifting height L of the grab bucket Hoist The difference in (i.e. the distance from the bottom end of the grapple to the ground), i.e. L Grab ＝H Trolley -L Hoist 。
Step S4: and calculating a first distance between the position point corresponding to each first coordinate and the trolley mechanism according to the first coordinates and the position coordinates of the trolley mechanism.
Specifically, the calculation formula of the first distance may be:
wherein D is Grab (i) Represents a first distance corresponding to the ith first coordinate, and (X (i), y (i), z (i)) is the ith coordinate, (X) trolley ，y trolley ，Z trolley ) Is the position coordinate of the trolley mechanism.
Further, since the projections of the grab bucket and the trolley mechanism on the X coordinate axis of the preset rectangular coordinate system are equal, that is, the X coordinate X (i) in the first coordinate of each point on the surface of the grab bucket is equal to the X coordinate X in the position coordinate of the trolley mechanism trolley Equality, therefore, equation (2) can be reduced to:
that is, for each first coordinate, the vertical distance between the position point corresponding to the first coordinate and the trolley mechanism can be calculated and obtained only according to the y coordinate and the z coordinate of the first coordinate and the y coordinate and the z coordinate of the position coordinate of the trolley mechanism.
Step S5: and constructing a weighting operator function, and respectively acquiring the weighting operator function values corresponding to the first coordinates according to the weighting operator function.
Step S6: for each first coordinate, calculating a grab bucket point probability factor value corresponding to the first coordinate according to the vertical distance, the first distance corresponding to the coordinate and the weighting operator function value;
step S7: and acquiring the position coordinates of the grab bucket target point according to the grab bucket point probability factor value.
According to the method, the coordinates of each position on the surface of the grab bucket are obtained by using the laser, the grab bucket point probability factor value corresponding to each first coordinate point is obtained by using the weighting operator and each coordinate, the most suitable first coordinate is selected as the grab bucket point target position coordinate according to all the grab bucket point probability factor values, accurate positioning of the grab bucket position is achieved, further, whether the grab bucket can safely enter and exit the cabin operation or not is automatically judged according to the grab bucket position, closed-loop control is achieved on the grab bucket by comparing the relative positions of the grab bucket and the trolley mechanism, convenience is provided for further improving the anti-shaking safety performance of the ship unloading operation of the bridge type grab bucket ship unloader, and convenience is provided for further improving the automation degree of the grab bucket ship unloader and reducing the labor intensity of operators.
Optionally, for each first coordinate, calculating the grapple point likelihood factor value corresponding to the first coordinate according to the vertical distance, the first distance corresponding to the coordinate, and the weighting operator function value (i.e., step S6) may include:
step S61: and obtaining a distance factor value corresponding to each first coordinate according to the first distance and the vertical distance corresponding to each first coordinate.
Specifically, the calculation formula of the distance factor value p may be:
where ln () represents a logarithmic function, p (i) represents a distance factor value corresponding to the ith first coordinate in the coordinate data, D Grab (i) Represents a first distance between the position point corresponding to the ith first coordinate and the trolley mechanism, L Grab Represents the vertical distance between the grab and the trolley, c 1 Represents an adjustable parameter, and c 1 > 0. Specifically, the optimal balance point is found by adjusting the adjustable parameter C1, so that the smoothness of the curve meets the actual requirement.
Further, the first distance D mentioned above will be Grab (i) Substituting the calculation formula of the distance factor value p, the formula can be converted into:
namely, calculating a distance factor value corresponding to the ith coordinate by using the formula (3), and in the concrete calculation, calculating the y coordinate and the z coordinate of the ith coordinate, the y coordinate and the z coordinate in the position coordinates of the trolley mechanism and the vertical distance L between the grab bucket and the trolley mechanism Grab Substituting formula (3) to obtain a distance factor value p (i) corresponding to the ith coordinate.
The data scanned and output by the laser not only comprises coordinates of position points on the surface of the grab bucket, but also possibly comprises coordinates of other position points outside the surface of the grab bucket, so that the application designs the distance factor calculation formula, and can effectively judge whether the acquired data come from the grab bucket or not through the distance factors, thereby avoiding calculation errors caused by drying of other position points, ensuring that the curve corresponding to the distance factors is smooth and is not easy to cause missed detection, and ensuring the accuracy of the position determination of the grab bucket to a certain extent.
Step S62: and acquiring a grab bucket point process factor value corresponding to each first coordinate according to the distance factor value corresponding to each first coordinate and the effective detection factor of the laser.
Specifically, the effective detection factor v can be expressed as:
wherein v (i) represents an effective detection factor value corresponding to the ith first coordinate, limYmin, limYmax represents a minimum detection position coordinate and a maximum detection position coordinate of the laser in a y direction in a preset rectangular coordinate system, limZmin, limZmax represents a minimum detection position coordinate and a maximum detection position coordinate of the laser in a z direction in the preset rectangular coordinate system, respectively, (x (i), y (i), z (i)) is the ith first coordinate, and y (i) and z (i) represent y coordinates and z coordinates of the ith first coordinate, respectively.
The effective detection factor is a step function, has a band-pass filter function, and only selects coordinates in the effective detection range of the laser to participate in the subsequent grab bucket position determination calculation process after calculation by combining the function, so that interference to the grab bucket position determination caused by laser measurement errors is avoided, and the subsequent calculation is simpler and faster. In addition, the effective detection range boundary of the laser in the x coordinate axis direction is not considered here because the specific operation on the x coordinate is not involved in the subsequent grab position determination process.
Specifically, the grapple point process factor may be expressed as:
h(i)＝v(i)·p(i) (4)
wherein h (i) represents a grapple point process factor value corresponding to the ith first coordinate, v (i) represents an effective detection factor value corresponding to the ith first coordinate, and p (i) represents a distance factor value corresponding to the ith first coordinate. I.e. the grapple point process factor is the product of the distance factor and the effective detection factor.
Step S63: and convolving the grab bucket point process factor value corresponding to each first coordinate with the weighting operator function value to obtain the grab bucket point probability factor value corresponding to the first coordinate.
Specifically, the calculation formula of the grab bucket point likelihood factor value may be:
the calculation symbol represents convolution, and f (i), g (i) and h (i) respectively represent grab bucket point probability factors, weighting operator function values and grab bucket process factor values corresponding to the ith first coordinate;m represents the effective detection point of the laser. Correspondingly, g (n) represents the weighting operator function value corresponding to the nth first coordinate, and h (i-n) represents the grapple process factor value corresponding to the ith-nth first coordinate.
Further, the calculation formula of the effective detection point M may be:
wherein tan is -1 () Representing the inverse of the trigonometric function, D representing the length of the grapple in the laser scan direction, L representing the laser-to-grapple distance (as shown in fig. 2), and θ representing the angular resolution of the laser.
That is, for the i first coordinate, the weighting operator function value and the grapple process factor value corresponding to the first coordinate may be convolved over the integer interval [ i-w, i+w ] to obtain the grapple point likelihood factor value corresponding to the first coordinate.
Specifically, the weighting operator function g (i) may be:
wherein g (i) represents a weighting operator function value corresponding to the ith first coordinate, sigma represents an adjustment parameter of the weighting operator function, and i represents a serial number of the first coordinate.
In the specific calculation, the weighting operator function can be used as a window function in the convolution calculation so as to fully consider the influence of different first coordinates on the calculation result, thereby enabling the calculation result of the grab bucket target point position coordinate to be more accurate.
Alternatively, the acquiring the grapple target point position coordinates (i.e., step S7) from each grapple point likelihood factor value may include:
step S71: and acquiring the maximum value of the probability factor values of each grab bucket point, and acquiring a first coordinate corresponding to the maximum value as a first intermediate coordinate.
That is, the grab bucket point likelihood factor values f (i) corresponding to all the first coordinates are compared, and the maximum value f (i) among the grab bucket point likelihood factor values is obtained max ) Then, the maximum value f (i max ) Corresponding first coordinates, i.e. ith max First coordinates (x (i) max ),y(i max ),z(i max ) The first coordinate is defined as a first intermediate coordinate, which may also be referred to as a three-dimensional coordinate of the current point of the grapple.
Step S72: comparing the z coordinates of the first coordinates, and taking the first coordinates where all z coordinates with the maximum value are respectively located as second intermediate coordinates; for all the second intermediate coordinates, a first difference between the y-coordinate of each second intermediate coordinate and the y-coordinate of the first intermediate coordinate and a second difference between the z-coordinate of each second intermediate coordinate and the z-coordinate of the first intermediate coordinate are calculated respectively.
Step S73: and respectively comparing the first difference value and the second difference value corresponding to the second intermediate coordinates with the first tolerance value and the second tolerance value to obtain second intermediate coordinates which simultaneously meet the condition that the first difference value is smaller than the first tolerance value and the second difference value is smaller than the second tolerance value, and taking the second intermediate coordinates as the position coordinates of the grab bucket target point.
Specifically, a first tolerance value y tolerance Equal to the maximum opening size of the grab bucket, and the second tolerance value z tolerance Equal to the maximum height of the grab bucket.
I.e. take i grab So thatAnd satisfy->
At this time, the ith grab First coordinates (x (i) grab ),y(i grab ),z(i grab ) I.e. the position coordinates of the grab bucket target point. Wherein max () represents the maximum function, i.eRepresenting the maximum of all z (i).
Accordingly, embodiments of the present application also provide a computer readable storage medium having stored thereon instructions that, when executed on a computer, cause the computer to perform the above-described method of determining grapple position using a laser.
Correspondingly, the application also provides a grab bucket position detection method which is used for bridge type lifting equipment, wherein the bridge type lifting equipment comprises a cart mechanism, a trolley mechanism and a grab bucket. Specifically, the bridge crane may be a grab ship unloader. The grab ship unloader main cycle operation process may include:
the grab bucket is positioned above the hopper before the preparation work, and when the grab bucket starts to work, the grab bucket firstly moves backwards for a section of straight line, then passes through a section of similar parabola, and vertically enters the cabin downwards to grab materials after reaching the target advancing position; after the materials are grasped, the materials are returned to the upper part of the funnel in a basic original path for discharging, and the materials are circularly and reciprocally discharged. In addition, the ship unloading operation of the whole cabin and the whole ship can be completed by changing the grabbing positions.
The grab bucket position detection method provided by the application can comprise the following steps:
step A1: two lasers are respectively arranged on the hoisting equipment.
Specifically, before the grab bucket is scanned by the lasers, two lasers can be respectively installed on the ship unloader, the two lasers are all installed on the top of the ship unloader, the installation angle of each laser is 45 degrees and is downward backward, the downward direction refers to the direction along which the grab bucket moves, namely downward along the vertical direction, the backward direction refers to the direction along which the trolley mechanism moves and is close to the grab bucket, and the reason for setting the angle is that the arrangement is favorable for capturing coordinates of more grab bucket position points.
Further, in the operation process, the laser is always in a working state, the maximum frequency of the laser can realize data feedback at 25Hz, the detection precision of the grab bucket distance of the laser is +/-0.01 m, and the detection precision of the grab bucket swing angle of the laser is +/-0.15 degrees.
Step A2: the two lasers scan the grab bucket at the same time and respectively output coordinate data;
step A3: based on the method for determining the position of the grab bucket by using the lasers, acquiring the position coordinate of the target point of the first grab bucket according to the coordinate data output by one of the lasers, and acquiring the position coordinate of the target point of the second grab bucket according to the coordinate data output by the other laser;
step A4: and acquiring the position coordinates of the grab bucket according to the position coordinates of the first grab bucket target point and the position coordinates of the second grab bucket target point.
According to the method, the grab bucket position data are obtained by using the laser, and the grab bucket point probability factor value corresponding to each coordinate point is obtained through the weighting operator and each coordinate according to the coordinate data output by the laser, the most suitable coordinate is selected as the grab bucket point target position coordinate according to all the grab bucket point probability factor values, and the influence of other factors is eliminated, so that the grab bucket position is positioned more accurately. The method further calculates and obtains the position coordinates of the grab bucket through the coordinate data of the two lasers, so that single errors possibly occurring in a single laser can be corrected, and the accuracy of calculated data is further improved. In addition, the method has simple calculation process and easy operation.
Further, the first grapple target point position coordinates (X) calculated from the coordinate data outputted from the two lasers may be calculated 1 ，Y 1 ，Z 1 ) And the second grapple target point position coordinates (X 2 ，Y 2 ，Z 2 ) A certain weight is given, and then the position coordinates (X 1 ，Y 1 ，Z 1 ) Second grapple target point position coordinates (X 2 ，Y 2 ，Z 2 ) And the weight factors corresponding to the grab bucket position coordinates respectively, specifically, the calculation formula of the grab bucket position coordinates can be as follows:
wherein, (X Grab ，Y Grab ，Z Grab ) X is the position coordinate of the grab bucket Grab 、Y Grab 、Z Grab Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the grab bucket; (X) 1 ，Y 1 ，Z 1 ) X is the position coordinate of the first grab target point 1 、Y 1 、Z 1 Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the first grab bucket target point; (X) 2 ，Y 2 ，Z 2 ) X is the position coordinate of the target point of the second grab bucket 2 、Y 2 、Z 2 Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the second grab bucket target point; k (k) 1 、k 2 Is a weight factor, and k 1 ＞0，k 2 ＞0。
Optionally, the weight factor k 1 And k 2 The respective value of (2) can be selected according to the actual situation. For example, will k 1 And k 2 The numerical values of (2) are all selectedAnd the data of the first laser and the second laser are conveniently comprehensively considered to ensure that the positioning result is more accurate, wherein the data is 0.5.
Correspondingly, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with instructions, and the instructions when executed on a computer cause the computer to execute the grab bucket position detection method.
Referring to fig. 3, a block diagram of an electronic device 400 is shown, according to one embodiment of the application. The electronic device 400 may include one or more processors 401 coupled to a controller hub 403. For at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-drop Bus, such as a Front Side Bus (FSB), a point-to-point interface, such as a Quick Path Interconnect (QPI), or similar interface. The processor 401 executes instructions that control the general type of data processing operations. In one embodiment, controller Hub 403 includes, but is not limited to, a Graphics Memory Controller Hub (GMCH) (not shown) and an Input Output Hub (IOH) (which may be on separate chips) (not shown), where the GMCH includes memory and Graphics controllers and is coupled to the IOH.
The electronic device 400 may also include a coprocessor 402 and memory 404 coupled to a controller hub 403. Alternatively, one or both of the memory and GMCH may be integrated within the processor 401 (as described in the present application), with the memory 404 and co-processor 402 coupled directly to the processor 401 and to the controller hub 403, the controller hub 403 being in a single chip with the IOH.
Memory 404 may be, for example, dynamic random access memory (DRAM, dynamic Random Access Memory), phase change memory (PCM, phase Change Memory), or a combination of both. One or more tangible, non-transitory computer-readable media for storing data and/or instructions may be included in memory 404. The computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: instructions that, when executed by at least one of the processors 401, cause the electronic device 400 to implement the method as shown in fig. 1. The instructions, when executed on a computer, cause the computer to perform the method disclosed in any one or combination of the embodiments described above.
In one embodiment, coprocessor 402 is a special-purpose processor, such as, for example, a high-throughput MIC (Many Integrated Core, integrated many-core) processor, network or communication processor, compression engine, graphics processor, GPGPU (General-purpose computing on a graphics processing unit), embedded processor, or the like. Optional properties of coprocessor 402 are shown in fig. 3 with dashed lines.
In one embodiment, the electronic device 400 may further include a network interface (NIC, network Interface Controller) 406. The network interface 406 may include a transceiver to provide a radio interface for the electronic device 400 to communicate with any other suitable device (e.g., front end module, antenna, etc.). In various embodiments, the network interface 406 may be integrated with other components of the electronic device 400. The network interface 406 may implement the functions of the communication units in the above-described embodiments.
Electronic device 400 may further include an Input/Output (I/O) device 405. The I/O device 405 may include: a user interface, the design enabling a user to interact with the electronic device 400; the design of the peripheral component interface enables the peripheral component to also interact with the electronic device 400; and/or sensors designed to determine environmental conditions and/or location information associated with the electronic device 400.
It is noted that fig. 3 is merely exemplary. That is, although fig. 3 shows that the electronic apparatus 400 includes a plurality of devices such as a processor 401, a controller hub 403, and a memory 404, in practical applications, the apparatus using the methods of the present application may include only a part of the devices of the electronic apparatus 400, for example, may include only the processor 401 and the network interface 406. The nature of the alternative device is shown in dashed lines in fig. 3.
Referring now to fig. 4, shown is a block diagram of a SoC (System on Chip) 500 in accordance with an embodiment of the present application. In fig. 4, similar parts have the same reference numerals. In addition, the dashed box is an optional feature of a more advanced SoC. In fig. 4, the SoC500 includes: an interconnect unit 550 coupled to the processor 510; a system agent unit 580; a bus controller unit 590; an integrated memory controller unit 540; a set or one or more coprocessors 520 which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a Static Random-Access Memory (SRAM) unit 530; a direct memory access (DMA, direct Memory Access) unit 560. In one embodiment, coprocessor 520 includes a special-purpose processor, such as, for example, a network or communication processor, compression engine, GPGPU (General-purpose computing on graphics processing units, general purpose computing on a graphics processing unit), high-throughput MIC processor, embedded processor, or the like.
Static Random Access Memory (SRAM) unit 530 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions. The computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: instructions that when executed by at least one of the processors cause the SoC to implement the method shown in fig. 1. The instructions, when executed on a computer, cause the computer to perform the methods disclosed in the above embodiments.
The method embodiments of the application can be realized in the modes of software, magnetic elements, firmware and the like.
Program code may be applied to input instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP, digital Signal Processor), a microcontroller, an Application Specific Integrated Circuit (ASIC), or a microprocessor.
The program code may be implemented in a high level procedural or object oriented programming language to communicate with a processing system. Program code may also be implemented in assembly or machine language, if desired. Indeed, the mechanisms described herein are not limited in scope to any particular programming language. In either case, the language may be a compiled or interpreted language.
One or more aspects of at least one embodiment may be implemented by representative instructions stored on a computer readable storage medium, which represent various logic in a processor, which when read by a machine, cause the machine to fabricate logic to perform the techniques herein. These representations, referred to as "IP (Intellectual Property ) cores," may be stored on a tangible computer-readable storage medium and provided to a plurality of customers or production facilities for loading into the manufacturing machines that actually manufacture the logic or processor.
In some cases, an instruction converter may be used to convert instructions from a source instruction set to a target instruction set. For example, the instruction converter may transform (e.g., using a static binary transform, a dynamic binary transform including dynamic compilation), morph, emulate, or otherwise convert an instruction into one or more other instructions to be processed by the core. The instruction converter may be implemented in software, hardware, firmware, or a combination thereof. The instruction converter may be on-processor, off-processor, or partially on-processor and partially off-processor.
While the application has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a further detailed description of the application with reference to specific embodiments, and it is not intended to limit the practice of the application to those descriptions. Various changes in form and detail may be made therein by those skilled in the art, including a few simple inferences or alternatives, without departing from the spirit and scope of the present application.
Claims (9)
1. A method of determining grapple position using a laser for a bridge crane apparatus comprising a cart mechanism, a trolley mechanism and a grapple, the method of determining grapple position using a laser comprising:
receiving coordinate data output after the grab bucket is scanned by a laser, wherein the coordinate data comprises a plurality of first coordinates;
converting each first coordinate from a spherical coordinate form into a three-dimensional rectangular coordinate form under a preset rectangular coordinate system;
acquiring a vertical distance between the grab bucket and the trolley mechanism and a position coordinate of the trolley mechanism in the preset rectangular coordinate system;
calculating a first distance between a position point corresponding to each first coordinate and the trolley mechanism according to the first coordinates and the position coordinates of the trolley mechanism;
constructing a weighting operator function, and respectively acquiring weighting operator function values corresponding to the first coordinates according to the weighting operator function;
for each first coordinate, calculating a grab bucket point probability factor value corresponding to the first coordinate according to the vertical distance, the first distance corresponding to the first coordinate and the weighting operator function value;
acquiring grab bucket target point position coordinates according to each grab bucket point possibility factor value;
wherein, for each first coordinate, calculating the grab bucket point likelihood factor value corresponding to the first coordinate according to the vertical distance, the first distance corresponding to the first coordinate, and the weighting operator function value includes:
acquiring a distance factor value corresponding to each first coordinate according to a first distance corresponding to each first coordinate and the vertical distance;
acquiring a grab bucket point process factor value corresponding to each first coordinate according to the distance factor value corresponding to each first coordinate and an effective detection factor of the laser;
for each first coordinate, convolving the corresponding grab bucket point process factor value and the weighting operator function value to obtain the grab bucket point probability factor value corresponding to the first coordinate;
the calculation formula of the distance factor value is as follows:
wherein ln () represents a logarithmic function, p (i) represents a distance factor value corresponding to the ith first coordinate in the coordinate data, D Grab (i) Represents a first distance between the position point corresponding to the ith first coordinate and the trolley mechanism, L Grab Representing the vertical distance between the grab and the trolley mechanism c 1 Represents an adjustable parameter, and c 1 ＞0；
The effective detection factors are:
wherein v (i) represents an effective detection factor value corresponding to the ith first coordinate, limYmin, limYmax represents a minimum detection position coordinate and a maximum detection position coordinate of the laser in a y direction in a preset rectangular coordinate system respectively, limZmin, limZmax represents a minimum detection position coordinate and a maximum detection position coordinate of the laser in a z direction in the preset rectangular coordinate system respectively, and y (i) and z (i) represent y coordinates and z coordinates of the ith first coordinate respectively;
the grab bucket point process factors are as follows:
h(i)＝v(i)·p(i)
wherein h (i) represents a grab bucket point process factor value corresponding to the ith first coordinate, v (i) represents an effective detection factor value corresponding to the ith first coordinate, and p (i) represents a distance factor value corresponding to the ith first coordinate;
the calculation formula of the grab bucket point probability factor value is as follows:
wherein the operation symbols represent convolution, and f (i), g (i) and h (i) respectively represent convolutionThe grab bucket point probability factor value, the weighting operator function value and the grab bucket process factor value corresponding to the ith first coordinate are listed;m represents the effective detection point of the laser.
2. The method for determining the position of a grapple using a laser according to claim 1, wherein the calculation formula of the effective detection point M is:
wherein tan is -1 () Representing the inverse of the trigonometric function, D representing the length of the grapple in the laser scan direction, L representing the laser-to-grapple distance, and θ representing the angular resolution of the laser.
3. The method of determining grapple position using a laser of claim 1 wherein said weighting operator function is:
wherein g (i) represents a weighting operator function value corresponding to the ith first coordinate, sigma represents an adjustment parameter of the weighting operator function, and i represents a serial number of the first coordinate.
4. The method of determining grapple position using a laser of claim 1 wherein said obtaining grapple target point position coordinates from each of said grapple point likelihood factor values comprises:
obtaining the maximum value of the grab bucket point probability factor values, and obtaining the first coordinate corresponding to the maximum value as a first intermediate coordinate;
comparing the z coordinates of the first coordinates, and taking the first coordinates where all z coordinates with the maximum value are respectively located as second intermediate coordinates;
for all the second intermediate coordinates, respectively calculating a first difference value between the y coordinate of each second intermediate coordinate and the y coordinate of the first intermediate coordinate and a second difference value between the z coordinate of each second intermediate coordinate and the z coordinate of the first intermediate coordinate;
and respectively comparing the first difference value and the second difference value corresponding to each second intermediate coordinate with a first tolerance value and a second tolerance value to obtain second intermediate coordinates which simultaneously meet the condition that the first difference value is smaller than the first tolerance value and the second difference value is smaller than the second tolerance value, and taking the second intermediate coordinates as the position coordinates of the grab bucket target point.
5. The method of determining grapple position using a laser of claim 4 wherein said first tolerance value is equal to a grapple maximum opening size and said second tolerance value is equal to a grapple maximum height.
6. A computer readable storage medium having instructions stored thereon which, when executed on a computer, cause the computer to perform the method of determining grapple position using a laser of any of claims 1 to 5.
7. A method for detecting the position of a grapple for a bridge crane apparatus comprising a cart mechanism, a trolley mechanism and a grapple, the method comprising:
two lasers are respectively arranged on bridge type lifting equipment;
the two lasers scan the grab bucket at the same time and respectively output coordinate data;
the method according to any one of claims 1 to 5, wherein the first grapple target point position coordinates are obtained from the coordinate data output by one of the lasers, and the second grapple target point position coordinates are obtained from the coordinate data output by the other of the lasers;
and acquiring the position coordinates of the grab bucket according to the position coordinates of the first grab bucket target point and the position coordinates of the second grab bucket target point.
8. The grapple position detection method of claim 7 wherein the grapple position coordinates are:
wherein, (X Grab ，Y Grab ，Z Grab ) X is the position coordinate of the grab bucket Grab 、Y Grab 、Z Grab Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the grab bucket; (X) 1 ，Y 1 ，Z 1 ) X is the position coordinate of the first grab target point 1 、Y 1 、Z 1 Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the first grab bucket target point; (X) 2 ，Y 2 ，Z 2 ) X is the position coordinate of the target point of the second grab bucket 2 、Y 2 、Z 2 Respectively representing an x coordinate, a y coordinate and a z coordinate in the position coordinates of the second grab bucket target point; k (k) 1 、k 2 Is a weight factor, and k 1 ＞0，k 2 ＞0。
9. A computer readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the grapple position detection method of claim 7 or 8.
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