CN114908670B - Trestle automatic overlap joint control method and device based on fusion of vision and motion reference units - Google Patents
Trestle automatic overlap joint control method and device based on fusion of vision and motion reference units Download PDFInfo
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Abstract
The invention provides a trestle automatic overlap joint control method and device based on vision and motion reference unit fusion. According to the method, the binocular vision camera is arranged at the position, close to the top end, of the telescopic bridge, the vision camera and the motion reference unit are fused to form the posture information of the top end of the trestle, so that the measurement of the top end of the trestle is more accurate, and the compensation of ship motion is more accurate. Meanwhile, a target detection and tracking technology based on vision is applied, so that one-key lap joint from the trestle to the wind power pile ladder is realized, and the technical requirements on trestle operators are reduced.
Description
Technical Field
The invention belongs to the technical field of offshore platform lap-joint trestle with an active sea wave compensation function, and particularly relates to a trestle automatic lap-joint control method and equipment based on vision and motion reference unit fusion. Automatic lap joint of trestle to offshore platforms such as wind power piles and the like under high sea conditions is realized, and establishment of personnel channels is completed.
Background
Along with the exploitation and utilization of offshore energy, the transportation of personnel and materials is required to be completed between the working mother ship and the offshore platform, however, due to the influence of ocean currents and ocean waves, the working mother ship can generate swinging with six degrees of freedom, and the efficiency and the safety of the transportation of the personnel and the materials are seriously reduced.
Wind energy is a clean renewable energy source, and compared with onshore wind power, offshore wind power has the advantages of strong wind power, no occupation of cultivated land and the like. The coastal region is an area with high power demand, and the power transmission cost can be reduced. The great development of offshore wind power has important significance for energy source formation and carbon neutralization!
However, the inspection and operation costs for offshore wind power are far higher than for land wind power. In order to adapt to the tidal change and wind power operation and maintenance ships with different deck heights, offshore wind power piles in China are designed to have very high foundation ladders under foundation platforms. The existing boarding mode mostly adopts a mode of propping or side leaning, so that an operation and maintenance ship leans on the wind electric pile, and an operation and maintenance person carries spare parts and tools to directly lean on a foundation ladder of the wind electric pile from a ship deck. The strong sea wind causes the running and maintenance ship to generate severe shaking, and the influence of the wind waves and the ocean currents, so that the distance and the relative height between the deck of the running and maintenance ship and the basic ladder stand are in the moment change, and the safety and accessibility of personnel and materials are very adversely affected.
Trestle with active motion compensation (Active Motion Compensation, AMC) can eliminate or reduce the effect of vessel motion on trestle, creating a relatively safe channel. For wind power piles of different structural forms, the motion compensation trestle is designed into different forms so as to adapt to the wind power piles. As shown in FIG. 1, one type of trestle that is commonly used is a three degree of freedom trestle that is mounted on the front deck of an operation and maintenance vessel, with the bow being brought closer to the spar by means of jacking. The trestle structure is shown in figure 1. Mainly comprises a base (B1), a support (B2), a pitching bridge (B3), a telescopic bridge (B4), an inserting plate (B5) and an inclined ladder (B6) at the top end of the telescopic bridge, a motion reference unit (S1) and two vision cameras (S2). The trestle has three degrees of freedom of rotation, pitching and telescoping, and can compensate five degrees of freedom of motion of the operation and maintenance ship, namely pitching, swaying and swaying, so that the position of the top end of the trestle is kept unchanged relative to a geodetic coordinate system (or a wind power pile). Thus constructing a safe path from the operation and maintenance vessel to the ladder.
The motion reference unit can measure the motion of the operation and maintenance ship in six degrees of freedom, and the controller compensates through the motions of the rotary hydraulic cylinder, the pitching hydraulic cylinder and the telescopic hydraulic cylinder. However, the motion reference unit obtains the motion of the operation and maintenance ship in the six degrees of freedom direction based on the inertial device, and the error may increase with time. In particular, the accuracy of real-time measurements in heave direction has been a difficulty in the study of motion reference units. Meanwhile, mechanical gaps of trestle bridges and the like influence the control effect on the top end of the trestle bridge.
The operation and maintenance ship can swing greatly, especially the time-varying acceleration in the pitching and heaving process can cause personnel to seasickness and reduce the working efficiency. At the moment, the trestle is operated by manipulating the handle, so that the insertion plate at the top end of the trestle is difficult to insert into the stair step of the foundation ladder of the offshore wind power pile.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a trestle automatic lap joint control method and device based on fusion of vision and motion reference units.
The invention is realized by the following technical scheme, and provides an automatic landing stage overlap joint control method based on vision and motion reference unit fusion, which specifically comprises the following steps:
step 1, a binocular camera arranged at the top end of a telescopic bridge takes a mark point on a wind power pile as a reference, measures the movement of the top end of the telescopic bridge through extraction of characteristic points, and converts the movement into a coordinate x of a relative geodetic coordinate system v ；
step 3, measuring the motion of the ship by a motion reference unit arranged on the trestle base, and converting the motion reference unit into a coordinate x of the top end of the telescopic bridge relative to a geodetic coordinate system through a conversion matrix m ；
Step 4, through x v And x m Obtaining a more accurate telescopic bridge top end coordinate x through fusion;
step 5, when the trestle control handle does not act, keeping the telescopic bridgeThe top current coordinate x (k) always tracks the initial coordinate x (0), and at this time, the target coordinate x is set r (k) =x (0), k represents a time series;
step 6, when a channel establishment key is pressed, the vision camera takes the maximum compensation amount as a target, determines the optimal inserted rung, takes the center point of the rung as a final target position, takes the center point of the rung as a starting point, and takes the center point as an ending point to carry out path planning;
step 7, path tracking is carried out in a mode of changing the value in real time until the top end coordinates of the bridge reach the target position, and the insertion plate is inserted into the rungs at the moment to complete the establishment of the channel;
step 8, exiting a path tracking mode, switching to a telescopic compensation mode, wherein the rotation degree of freedom and the pitching degree of freedom of the trestle enter a free state, and a vision camera measures the distance between the top end of the telescopic bridge and the wind-powered electricity pile and keeps the distance unchanged by controlling a telescopic hydraulic cylinder;
and 9, when the distance between the top end of the telescopic bridge and the wind power pile is greater than a set threshold value, the telescopic degree of freedom exceeds a compensation range, an alarm is sent, the revolving degree of freedom and the pitching degree of freedom are restored to a position servo state, and the trestle is retracted to a safe position.
Further, in step 1, images of the wind power pile, the ship post and the ladder are collected by using a binocular vision camera to extract and match feature points, in order to increase the image processing speed, a descriptor BRIEF is used to describe the feature points, and a monitor FAST is used to obtain the feature points, namely, a directional FAST algorithm and a rotary BRIEF algorithm are used to extract the feature points.
Further, in step 1, an image frame at which active motion compensation starts is taken as an initial frame F 0 By the current frame F k And initial frame F 0 Calculating coordinate change of top of trestle based on characteristic point method
In the method, in the process of the invention,
respectively the coordinates of the top end of the trestle at the groundThe coordinate of three coordinate axes of X, Y and Z in the O-XYZ system is the change value of the coordinate, namely the deviation value of the top of the trestle relative to the geodetic coordinate system.
Further, in step 3, the motion reference unit measurement value is used as the initial value M to start the active motion compensation starting time 0 By means of the current time of the movement reference unit measurement M k And an initial value M 0 Calculating the variable quantity psi of the operation and maintenance ship in the three directions of pitching, pitching and heaving m ,θ m ,z m The coordinate change of the top end of the trestle is obtained through the motion reference unit:
wherein L1 is the sum of the heights of the trestle base and the support, L2 is the length of the pitching bridge, L3 is the extending length of the telescopic bridge, and ψ is the sum of the heights of the trestle base and the support g Represents the rotation quantity of trestle, theta g The pitch of the trestle is represented,
the coordinates of the X coordinate axis, the Y coordinate axis and the Z coordinate axis of the top end of the trestle obtained through the motion reference unit in the geodetic coordinate system O-XYZ are respectively.
Further, in step 4, the change of the landing stage top end coordinates measured by the vision camera is fused by an unscented Kalman filter
And trestle top coordinate variation measured by a motion reference unit +.>
Obtaining the variation x (k) of the fused trestle top coordinates relative to the initial coordinates x (0), and setting x (0) = [0,0 for simplicity] T And the variation x (k) is the coordinate value of the top end of the trestle.
Further, in step 5, to compensate for the variation x (k), the attitude values ψ (k), p (k), e (k) of the trestle in three degrees of freedom of swivel, pitch and telescopic are calculated by the inverse matrixThrough the movement of the hydraulic cylinder, the trestle is driven to reach the attitude value, so that the variation x (k) of the coordinates at the top end of the trestle approaches to 0, namely x (k) tracks x r (k)＝x(0)。
Further, in step 6, frame F is passed j And F is equal to j-1 (j=1, …, k) calculating the variation of horizontal projection of the top end of the trestle to the stirrup of the wind power pile foundation cat ladder when the pitching bridge is at the horizontal position based on the characteristic point method, and taking the stirrup corresponding to the average value of the variation as the target stirrup x of the trestle lap joint e Starting with x (0), taking x as the starting point e And planning a path for the termination point.
Further, in step 7, when the "establish channel" key is pressed, x is changed with the movement speed of the landing stage slewing, pitching and telescoping cylinders as constraints r (k) To program a point on the path, the top of the trestle will track the changing x at this time r (k)。
Further, in step 8, until the bridge tip coordinate x and the target position x e The distance between the two is smaller than a set value, and the insertion plate is inserted into the rungs at the moment to finish the establishment of the channel; and switching into a telescopic compensation mode, wherein the rotation freedom degree and the pitching freedom degree of the trestle enter a free state, and the visual camera measures the distance between the top end of the telescopic bridge and the wind-powered electric pile in real time and keeps the distance unchanged by controlling the telescopic hydraulic cylinder.
The invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the trestle automatic overlap joint control method based on fusion of vision and motion reference units when executing the computer program.
The beneficial effects of the invention are as follows:
(1) The binocular vision camera is used for measuring the movement of the top end of the trestle and is fused with the ship movement measured by the movement reference unit, so that the mechanical transmission error of the bridge body and the accumulated error of the inertial device are overcome, and the movement compensation precision is improved.
(2) The visual camera is used for directly guiding the trestle inserting plate to be inserted into the wind power pile ladder stand, so that the channel establishment is completed, and the technical requirements on operators are reduced.
Drawings
FIG. 1 is a schematic diagram of a trestle construction; wherein B1 is a base; b2 support; b3 pitch bridge; b4 telescopic bridge; b5 insert plate; b6, inclined ladder; y1 rotary hydraulic cylinder; y2 pitching hydraulic cylinder; y3 telescopic hydraulic cylinder; s1, a motion reference unit; s2, a vision camera;
FIG. 2 is a schematic diagram of a trestle bridge lapped wind power pile; wherein B4 is a telescopic bridge; b5 insert plate; c1, climbing a ladder; s2, a vision camera;
fig. 3 is a flow chart of automatic landing stage overlap joint.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to install a binocular vision camera at a position (shown in figure 1) of a telescopic bridge, which is close to the top end, and fuse gesture information of the vision camera and a motion reference unit on the top end of a trestle, so that the measurement of the top end of the trestle is more accurate, and the compensation of ship motion is more accurate. Meanwhile, a target detection and tracking technology based on vision is applied, so that one-key lap joint from the trestle to the wind power pile ladder is realized, and the technical requirements on trestle operators are reduced.
Referring to fig. 1-3, the invention provides an automatic landing stage overlap joint control method based on fusion of vision and motion reference units, which specifically comprises the following steps:
step 1, a binocular camera arranged at the top end of a telescopic bridge takes a mark point on a wind power pile as a reference, measures the movement of the top end of the telescopic bridge through extraction of characteristic points, and converts the movement into a coordinate x of a relative geodetic coordinate system v ；
step 3, providing the floating bridgeThe motion reference unit of the seat measures the motion of the ship and converts the motion into a coordinate x of the top end of the telescopic bridge relative to a geodetic coordinate system through a conversion matrix m ；
Step 4, through x v And x m Obtaining a more accurate telescopic bridge top end coordinate x through fusion;
step 5, when the trestle control handle does not act, keeping the current coordinate x (k) at the top end of the telescopic bridge to always track the initial coordinate x (0), and setting the target coordinate x at the moment r (k) =x (0), k represents a time series;
step 6, when the 'establish channel' key is pressed, the vision camera targets the maximum compensation amount, determines the optimal inserted rung, and takes the center point of the rung as the final target position x e Starting with x (0), taking x as the starting point e Planning a path for an ending point;
step 7, by changing x in real time r (k) Value-wise path tracking is performed until the bridge tip coordinate x (k) reaches the target position x e At this time, the insertion plate is already inserted into the rungs to complete the establishment of the channel;
step 8, exiting a path tracking mode, switching to a telescopic compensation mode, wherein the rotation degree of freedom and the pitching degree of freedom of the trestle enter a free state, and a vision camera measures the distance between the top end of the telescopic bridge and the wind-powered electricity pile and keeps the distance unchanged by controlling a telescopic hydraulic cylinder; so as to prevent the insert plate from being separated from the rungs of the ladder by the influence of the ship motion.
And 9, when the distance between the top end of the telescopic bridge and the wind power pile is greater than a set threshold value, the telescopic degree of freedom exceeds a compensation range, an alarm is sent, the revolving degree of freedom and the pitching degree of freedom are restored to a position servo state, and the trestle is retracted to a safe position.
In step 1, images of the wind electric pile, the ship post and the ladder are collected by using a binocular vision camera to extract and match characteristic points, in order to accelerate the image processing speed, the characteristic points are described by using a descriptor BRIEF, and the characteristic points are obtained by using a monitor FAST, namely, the characteristic points are extracted by using a directional FAST and rotating BRIEF algorithm (Oriented FAST and Rotated BRIEF).
In step 1An image frame at which the active motion compensation start time is started is taken as an initial frame F 0 By the current frame F k And initial frame F 0 Calculating coordinate change of top of trestle based on characteristic point method
In (1) the->
The coordinates of the top of the trestle in three coordinate axes of X, Y and Z in the geodetic coordinate system O-XYZ are respectively obtained, and the coordinate change value is the deviation value of the top of the trestle relative to the geodetic coordinate system. In the process, the precision of visual positioning is improved by a sparse map built by key feature points and a loop detection method.
In step 3, the motion reference unit measurement value is taken as an initial value M at the beginning of the active motion compensation 0 By means of the current time of the movement reference unit measurement M k And an initial value M 0 Calculating the variable quantity psi of the operation and maintenance ship in the three directions of pitching, pitching and heaving m ,θ m ,z m The coordinate change of the top end of the trestle is obtained through the motion reference unit:
wherein L1 is the sum of the heights of the trestle base and the support, L2 is the length of the pitching bridge, L3 is the extending length of the telescopic bridge, and ψ is the sum of the heights of the trestle base and the support g Represents the rotation quantity of trestle, theta g The pitch of the trestle is represented,
the coordinates of the X coordinate axis, the Y coordinate axis and the Z coordinate axis of the top end of the trestle obtained through the motion reference unit in the geodetic coordinate system O-XYZ are respectively.
In step 4, the change of the landing stage top end coordinates measured by the vision camera is fused by an unscented Kalman filter
And trestle top coordinate variation measured by a motion reference unit +.>
Obtaining the variation x (k) of the fused trestle top coordinates relative to the initial coordinates x (0), and setting x (0) = [0,0 for simplicity] T And the variation x (k) is the coordinate value of the top end of the trestle.
In step 5, to compensate the variation x (k), calculating the attitude values ψ (k), p (k), e (k) of the trestle in three degrees of freedom of rotation, pitching and telescoping through an inverse solution matrix, driving the trestle to reach the attitude value through the movement of a hydraulic cylinder, so that the variation x (k) of the coordinates at the top end of the trestle approaches 0, namely x (k) tracks x r (k)＝x(0)。
In step 6, pass frame F j And F is equal to j-1 (j=1, …, k) calculating the variation of horizontal projection of the top end of the trestle to the stirrup of the wind power pile foundation cat ladder when the pitching bridge is at the horizontal position based on the characteristic point method, and taking the stirrup corresponding to the average value of the variation as the target stirrup x of the trestle lap joint e Starting with x (0), taking x as the starting point e And planning a path for the termination point.
In step 7, when the "establish channel" key is pressed, x is changed by taking the movement speeds of the landing stage slewing, pitching and telescoping hydraulic cylinders as constraints r (k) To program a point on the path, the top of the trestle will track the changing x at this time r (k)。
In step 8, until the bridge tip coordinate x and the target position x e The distance between the two is smaller than a set value, and the insertion plate is inserted into the rungs at the moment to finish the establishment of the channel; and switching into a telescopic compensation mode, wherein the rotation freedom degree and the pitching freedom degree of the trestle enter a free state, and the visual camera measures the distance between the top end of the telescopic bridge and the wind-powered electric pile in real time and keeps the distance unchanged by controlling the telescopic hydraulic cylinder.
The invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the trestle automatic overlap joint control method based on fusion of vision and motion reference units when executing the computer program.
The invention provides a trestle automatic overlap control method and equipment based on fusion of visual and motion reference units, which are described in detail, wherein specific examples are applied to illustrate the principle and the implementation of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (9)
1. The automatic landing stage overlap joint control method based on the fusion of the vision and the motion reference units is characterized by comprising the following steps:
step 1, a binocular camera arranged at the top end of a telescopic bridge takes a mark point on a wind power pile as a reference, measures the movement of the top end of the telescopic bridge through extraction of characteristic points, and converts the movement into a coordinate x of a relative geodetic coordinate system v ；
Step 2, obtaining pose and conversion matrix parameters of the trestle through sensors arranged on a rotating shaft, a pitching shaft and a telescopic shaft of the trestle;
step 3, measuring the motion of the ship by a motion reference unit arranged on the trestle base, and converting the motion reference unit into a coordinate x of the top end of the telescopic bridge relative to a geodetic coordinate system through a conversion matrix m ；
Step 4, through x v And x m Obtaining a more accurate telescopic bridge top end coordinate x through fusion;
step 5, when the trestle control handle does not act, keeping the current coordinate x (k) at the top end of the telescopic bridge to always track the initial coordinate x (0), and setting the target coordinate x at the moment r (k) =x (0), k represents a time series;
step 6, when the 'establish channel' key is pressed, the vision camera targets the maximum compensation amount, determines the optimal inserted rung, and takes the center point of the rung as the final target position x e Starting with x (0), taking x as the starting point e Path gauge for termination pointDrawing;
step 7, by changing x in real time r (k) Value-wise path tracking is performed until the bridge tip coordinate x (k) reaches the target position x e At this time, the insertion plate is already inserted into the rungs to complete the establishment of the channel;
step 8, exiting a path tracking mode, switching to a telescopic compensation mode, wherein the rotation degree of freedom and the pitching degree of freedom of the trestle enter a free state, and a vision camera measures the distance between the top end of the telescopic bridge and the wind-powered electricity pile and keeps the distance unchanged by controlling a telescopic hydraulic cylinder;
and 9, when the distance between the top end of the telescopic bridge and the wind power pile is greater than a set threshold value, the telescopic degree of freedom exceeds a compensation range, an alarm is sent, the revolving degree of freedom and the pitching degree of freedom are restored to a position servo state, and the trestle is retracted to a safe position.
2. The method according to claim 1, wherein in step 1, images of the wind power pile, the ship's post and the ladder are acquired by using a binocular vision camera for feature point extraction and matching, and in order to increase the image processing speed, the feature points are described by using a descriptor BRIEF, and the feature points are acquired by using a monitor FAST, that is, feature point extraction is performed by using a directional FAST and a rotational BRIEF algorithm.
3. The method according to claim 2, wherein in step 1, an image frame at which the active motion compensation start time is started is taken as an initial frame F 0 By the current frame F k And initial frame F 0 Calculating coordinate change of top of trestle based on characteristic point method
In (1) the->
The coordinates of the top of the trestle in three coordinate axes of X, Y and Z in the geodetic coordinate system O-XYZ are respectively obtained, and the coordinate change value is the deviation value of the top of the trestle relative to the geodetic coordinate system.
4. A method according to claim 3, characterized in that in step 3, the motion reference unit measurement is used as the initial value M for starting the active motion compensation start time 0 By means of the current time of the movement reference unit measurement M k And an initial value M 0 Calculating the variable quantity psi of the operation and maintenance ship in the three directions of pitching, pitching and heaving m ,θ m ,z m The coordinate change of the top end of the trestle is obtained through the motion reference unit:
wherein L1 is the sum of the heights of the trestle base and the support, L2 is the length of the pitching bridge, L3 is the extending length of the telescopic bridge, and ψ is the sum of the heights of the trestle base and the support g Represents the rotation quantity of trestle, theta g The pitch of the trestle is represented,
the coordinates of the X coordinate axis, the Y coordinate axis and the Z coordinate axis of the top end of the trestle obtained through the motion reference unit in the geodetic coordinate system O-XYZ are respectively. />
5. The method of claim 4, wherein in step 4, the change in landing stage top coordinates measured by the vision camera is fused by an unscented Kalman filter
And trestle top coordinate variation measured by a motion reference unit +.>
Obtaining the variation x (k) of the fused trestle top coordinates relative to the initial coordinates x (0), and setting x (0) = [0,0 for simplicity] T And the variation x (k) is the coordinate value of the top end of the trestle.
6. Root of Chinese characterThe method of claim 5, wherein in step 5, in order to compensate the variation x (k), the attitude values psi (k), p (k), e (k) of the three degrees of freedom of rotation, pitching and telescoping of the trestle are calculated through an inverse matrix, and the trestle is driven to reach the attitude values through the movement of a hydraulic cylinder, so that the variation x (k) of the coordinates of the top end of the trestle approaches 0, namely x (k) tracks x r (k)＝x(0)。
7. The method of claim 6, wherein in step 6, frame F is passed through j And F is equal to j-1 (j=1, …, k) calculating the variation of horizontal projection of the top end of the trestle to the stirrup of the wind power pile foundation cat ladder when the pitching bridge is at the horizontal position based on the characteristic point method, and taking the stirrup corresponding to the average value of the variation as the target stirrup x of the trestle lap joint e Starting with x (0), taking x as the starting point e And planning a path for the termination point.
8. The method of claim 7, wherein in step 7, when the "set up channel" key is pressed, x is modified with respect to the speed of movement of the landing stage slewing, pitching and telescoping cylinders as constraints r (k) To program a point on the path, the top of the trestle will track the changing x at this time r (k)。
9. The method of claim 8, wherein in step 8, until the bridge tip coordinate x and the target position x e The distance between the two is smaller than a set value, and the insertion plate is inserted into the rungs at the moment to finish the establishment of the channel; and switching into a telescopic compensation mode, wherein the rotation freedom degree and the pitching freedom degree of the trestle enter a free state, and the visual camera measures the distance between the top end of the telescopic bridge and the wind-powered electric pile in real time and keeps the distance unchanged by controlling the telescopic hydraulic cylinder.
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| JP7386041B2 (en) * | 2019-10-17 | 2023-11-24 | 川崎重工業株式会社 | Ship maneuvering support system and method |
| CN110761172B (en) * | 2019-11-07 | 2021-06-29 | 上海振华重工(集团)股份有限公司 | Telescopic trestle system and control method thereof |
| CN111462236A (en) * | 2020-04-02 | 2020-07-28 | 集美大学 | Method and system for detecting relative pose between ships |
| CN112158745A (en) * | 2020-10-26 | 2021-01-01 | 北京千尧新能源科技开发有限公司 | Marine boarding device with wave compensation and hoisting functions |
| CN112407144A (en) * | 2021-01-11 | 2021-02-26 | 九江精密测试技术研究所 | Active wave compensation control system for articulated four-degree-of-freedom boarding trestle and control method thereof |
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2022
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