CN115439500A - Attitude control method for marine boarding corridor bridge and related equipment - Google Patents
Attitude control method for marine boarding corridor bridge and related equipment Download PDFInfo
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Abstract
The invention discloses an attitude control method and related equipment for a maritime boarding corridor bridge, relates to the technical field of maritime wind power, and mainly solves the problem that a more reliable and accurate control method is lacked when the boarding corridor bridge is in basic butt joint with an offshore wind turbine. The method comprises the following steps: under the condition that the boarding bridge is located at a preset position, switching the control state of the boarding bridge to be a follow-up state, acquiring an image of a target offshore wind turbine foundation within a preset range as initial image information through imaging equipment arranged on the boarding bridge while switching the control state of the boarding bridge to be the follow-up state, and acquiring the image of the target offshore wind turbine foundation acquired by the imaging equipment in the follow-up state in real time as contrast image information; calculating a motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information. The attitude control method is used for the attitude control process of the offshore boarding gallery bridge.
Description
Technical Field
The invention relates to the technical field of offshore wind power, in particular to an attitude control method of an offshore boarding corridor bridge and related equipment.
Background
The global warming problem is becoming more severe, and clean energy is the inevitable trend of future energy development. Wind energy is an important clean energy source, the development technology is mature at present, offshore wind power is rapidly developed at home and abroad in recent years, the scale of an offshore wind power plant is continuously enlarged, and the offshore wind power plant is gradually developed from a shallow sea to a deep sea. Due to the complex and severe offshore environment, the operation and maintenance operation difficulty of the offshore wind power plant is high, the risk is high, and certain restriction is formed on the development of offshore wind power, wherein the accessibility of offshore wind power operation and maintenance is an important influence factor. In order to improve the accessibility and safety of offshore wind power operation and maintenance, a professional motion compensation boarding bridge device is required to be configured on an operation and maintenance ship, the device is generally composed of a plurality of subsystems such as a mechanical structure, hydraulic pressure and electricity, and a more reliable and accurate control method is lacked when the boarding bridge is in butt joint with an offshore wind turbine foundation at present.
Disclosure of Invention
In view of the above problems, the present invention provides an attitude control method for a marine boarding bridge and related equipment, and mainly aims to solve the problem that a more reliable and accurate control method is not available when the boarding bridge is in foundation butt joint with an offshore wind turbine.
In order to solve at least one technical problem, in a first aspect, the present invention provides a method for controlling an attitude of a marine boarding bridge, the method comprising:
under the condition that the boarding bridge is at a preset position, switching the control state of the boarding bridge into a follow-up state;
when the control state of the boarding corridor bridge is switched into a follow-up state, acquiring an image of a target offshore wind turbine foundation in a preset range as initial image information through imaging equipment arranged on the boarding corridor bridge;
acquiring an image of the target offshore wind turbine foundation acquired by the imaging equipment in a follow-up state in real time as contrast image information;
and calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information.
Optionally, the calculating a motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information includes:
determining attitude change data of the boarding corridor bridge based on the initial image information and the comparison image information;
and calculating the boarding corridor bridge motion compensation parameters based on the attitude change data.
Optionally, the imaging device is an industrial CCD image acquisition device.
Optionally, the method further includes:
obtaining the illumination intensity in the preset range;
and under the condition that the illumination intensity is smaller than the preset illumination intensity, supplementing light to the offshore wind turbine foundation.
Optionally, the method further includes:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
and selecting the offshore wind turbine foundation which can be in a light direction with the imaging equipment as a target offshore wind turbine foundation based on the position information and the current illumination direction of a plurality of offshore wind turbine foundations.
Optionally, the method further comprises;
and adjusting the imaging direction of the imaging equipment to the target offshore wind turbine foundation.
Optionally, the method further includes:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
generating a shooting direction adjustment plan of the imaging device based on position information of a plurality of offshore wind turbines, position information of the imaging device and illumination track information at different moments in the preset range;
and inquiring the shooting direction adjustment plan based on the moment when the control state of the boarding bridge is switched to the follow-up state so as to determine the current target offshore wind turbine foundation and the orientation of the imaging equipment.
In a second aspect, an embodiment of the present invention further provides an attitude control device for a marine boarding bridge, including:
the switching unit is used for switching the control state of the boarding corridor bridge into a follow-up state under the condition that the boarding corridor bridge is at a preset position;
the acquiring unit is used for acquiring an image of a target offshore wind turbine foundation in a preset range as initial image information through imaging equipment arranged on the boarding corridor bridge while switching the control state of the boarding corridor bridge to be a follow-up state;
the contrast unit is used for acquiring the image of the target offshore wind turbine foundation acquired by the imaging equipment in a follow-up state in real time as contrast image information;
and the calculating unit is used for calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a computer-readable storage medium including a stored program, wherein the steps of the attitude control method of the above-described marine boarding bridge are implemented when the program is executed by a processor.
In order to achieve the above object, according to a fourth aspect of the present invention, there is provided an electronic device comprising at least one processor, and at least one memory connected to the processor; the processor is used for calling the program instructions in the memory and executing the steps of the attitude control method of the marine boarding corridor bridge.
By means of the technical scheme, the method and the related equipment for controlling the attitude of the offshore boarding bridge solve the problem that a more reliable and accurate control method is lacked when the boarding bridge is in butt joint with an offshore wind turbine foundation, the method and the equipment switch the control state of the boarding bridge to be a follow-up state under the condition that the boarding bridge is at a preset position, and acquire an image of a target offshore wind turbine foundation in a preset range as initial image information through imaging equipment arranged on the boarding bridge while switching the control state of the boarding bridge to be the follow-up state, and acquire the image of the target offshore wind turbine foundation acquired by the imaging equipment in the follow-up state in real time as comparison image information; and calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information. In the scheme, when the boarding corridor bridge reaches the proper boarding position, the boarding corridor bridge is controlled to be changed into a follow-up state, namely, the working state of automatic compensation is started, the method is used for judging the posture change of the boarding corridor bridge and compensating the posture change, an absolutely static reference object on the sea surface, namely, a marine wind turbine foundation can be selected, the position and the posture of the wind turbine foundation cannot be changed due to the fact that the wind turbine foundation is fixed, the initial image information of the marine wind turbine foundation is obtained at the moment that the boarding corridor bridge is switched to the follow-up state, the position and the posture of the boarding corridor bridge are indirectly reflected based on the position of the marine wind turbine foundation and used as a comparison basis of the image information of the marine wind turbine foundation which is obtained continuously in real time, the change of the posture of the boarding corridor bridge can be determined through the comparison of the subsequently obtained image information of the marine wind turbine foundation, the motion compensation parameters can be determined based on the compared change image information, the wind turbine foundation is used as the reference object, imaging equipment on the boarding corridor bridge is relatively static, the posture of the boarding corridor bridge can be changed relatively through shooting of the image information of the marine turbine foundation, and the contrast of the marine turbine foundation, so that the attitude of the boarding corridor bridge can be stably compensated for the boarding corridor bridge, and the boarding corridor bridge can be compensated.
Accordingly, the attitude control device, the equipment and the computer readable storage medium for the marine boarding corridor bridge provided by the embodiment of the invention also have the technical effects.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow chart of an attitude control method for a marine boarding corridor bridge according to an embodiment of the present invention;
fig. 2 is a block diagram showing a schematic composition of an attitude control device of a marine boarding corridor bridge according to an embodiment of the present invention;
fig. 3 shows a block diagram of the electronic device for controlling the attitude of the marine boarding bridge according to the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to solve the problem that a more reliable and accurate control method is lacked when the boarding bridge is in butt joint with the offshore wind turbine foundation, an embodiment of the invention provides a posture control method of a marine boarding bridge, and as shown in fig. 1, the method comprises the following steps:
s101, under the condition that the boarding bridge is at a preset position, switching the control state of the boarding bridge into a follow-up state;
illustratively, before the boarding corridor bridge enters an operation state, an electric and hydraulic system of the boarding corridor bridge is started firstly, the boarding corridor bridge is in a standby state at the moment, when an operator manually operates the boarding corridor bridge to reach a proper boarding position, the boarding corridor bridge is switched to enter a follow-up state through keys, and even if the boarding corridor bridge enters a state capable of being automatically compensated, automation and intellectualization of the boarding corridor bridge are achieved.
S102, when the control state of the boarding corridor bridge is switched to a follow-up state, acquiring an image of a target offshore wind turbine foundation within a preset range as initial image information through imaging equipment arranged on the boarding corridor bridge;
for example, at the moment when the control state of the boarding corridor bridge is switched to the follow-up state by manual operation, the imaging device disposed in the boarding corridor bridge is turned on, for example, an offshore wind turbine foundation picture in a preset range may be acquired by a machine vision system as initial image information, and then the initial image information is used as a judgment reference, where the preset range is influenced by the size of the boarding corridor bridge, the size of the offshore wind turbine foundation, and the like, and is not limited herein as the case may be.
S103, acquiring an image of the target offshore wind turbine foundation acquired by the imaging equipment in a follow-up state in real time as contrast image information;
illustratively, after an offshore wind turbine foundation picture in a preset range is obtained through the imaging device to serve as initial image information, subsequently, image information of a target offshore wind turbine foundation is continuously obtained in real time, and the image of the target offshore wind turbine foundation obtained in real time serves as a comparison image to be compared with the initial image of the offshore wind turbine foundation.
And S104, calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information.
Illustratively, after the comparison image information of the target offshore wind turbine foundation acquired in real time is compared with the initial image information, the motion compensation parameter of the boarding corridor bridge can be determined, so that the boarding corridor bridge foundation can compensate for the attitude change of the corridor bridge based on the motion compensation parameter, and the boarding point of the boarding corridor bridge is kept stable relative to the offshore wind turbine foundation.
By means of the technical scheme, the attitude control method for the offshore boarding bridge, provided by the invention, has the advantages that as for the problem that a more reliable and accurate control method is lacked when the boarding bridge is in butt joint with an offshore wind turbine foundation, the control state of the boarding bridge is switched to be a follow-up state under the condition that the boarding bridge is at a preset position, the control state of the boarding bridge is switched to be the follow-up state, meanwhile, an image of a target offshore wind turbine foundation in a preset range is obtained through imaging equipment arranged on the boarding bridge and is used as initial image information, and the image of the target offshore wind turbine foundation obtained by the imaging equipment in the follow-up state is obtained in real time and is used as comparison image information; and calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information. In the scheme, when the boarding corridor bridge reaches the proper boarding position, the boarding corridor bridge is controlled to be changed into a follow-up state, namely, the working state of automatic compensation is started, the method is used for judging the posture change of the boarding corridor bridge and compensating the posture change, an absolutely static reference object on the sea surface, namely, a marine wind turbine foundation can be selected, the position and the posture of the wind turbine foundation cannot be changed due to the fact that the wind turbine foundation is fixed, the initial image information of the marine wind turbine foundation is obtained at the moment that the boarding corridor bridge is switched to the follow-up state, the position and the posture of the boarding corridor bridge are indirectly reflected based on the position of the marine wind turbine foundation and used as a comparison basis of the image information of the marine wind turbine foundation which is obtained continuously in real time, the change of the posture of the boarding corridor bridge can be determined through the comparison of the subsequently obtained image information of the marine wind turbine foundation, the motion compensation parameters can be determined based on the compared change image information, the wind turbine foundation is used as the reference object, imaging equipment on the boarding corridor bridge is relatively static, the posture of the boarding corridor bridge can be changed relatively through shooting of the image information of the marine turbine foundation, and the contrast of the marine turbine foundation, so that the attitude of the boarding corridor bridge can be stably compensated for the boarding corridor bridge, and the boarding corridor bridge can be compensated.
In one embodiment, the calculating the motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information includes:
determining attitude change data of the boarding corridor bridge based on the initial image information and the comparison image information;
and calculating the boarding corridor bridge motion compensation parameters based on the attitude change data.
For example, after comparing the comparison image information of the target offshore wind turbine foundation obtained in real time with the initial image information, it may be determined how much the position and the attitude of the target offshore wind turbine foundation have changed, that is, the attitude change data of the boarding corridor bridge, and then it may be determined how to compensate the change according to the attitude change data, that is, determine the motion compensation parameters of the boarding corridor bridge.
In one embodiment, the imaging device is an industrial CCD image capture device.
Illustratively, the CCD image acquisition refers to acquiring image information by using a CCD image sensor. The complete CCD image acquisition system mainly comprises the following parts: the device comprises a front-end optical system, a CCD image acquisition module, an analog-to-digital conversion module, an FPGA preprocessing module, a Flash program storage module, a DSP image processing module, an SDRAM data storage module, an image display module and a rear-end PC. According to the practical application scenario of the method, some modules are not necessary, and the modules can be subjected to self-subtraction. Because the industrial CCD image acquisition equipment has a non-uniformity correction technology, the sensitivity of each pixel to light can be kept consistent; anti-halo technology, because shortening the exposure time is the most effective method to reduce halo; white balance technology, which adjusts the intensity of red, green and blue colors of the whole image immediately according to the image characteristics in the instantaneous image by correcting the white balance so as to correct the error caused by the external light; the enhanced CCD technology can realize single-photon imaging due to high light amplification factor, so that the method adopts industrial CCD image acquisition equipment to ensure the accuracy and definition of the acquired image.
In one embodiment, the method further comprises:
obtaining the illumination intensity in the preset range;
and under the condition that the illumination intensity is smaller than the preset illumination intensity, supplementing light to the offshore wind turbine foundation.
For example, the application range of the method is at sea, the weather conditions are variable, and the illumination conditions are variable, so that the method obtains the illumination intensity in the preset range in real time, and if the illumination intensity is smaller than the preset illumination intensity, it is reflected that the imaging device is difficult to obtain clear image data under the illumination intensity, so that the method sets that under the condition that the illumination intensity is smaller than the preset illumination intensity, intelligent supplementary lighting is performed on the offshore wind turbine foundation, and the definition of the obtained image is ensured.
In one embodiment, the method further comprises:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
and selecting the offshore wind turbine foundation which can be in a light direction with the imaging equipment as a target offshore wind turbine foundation based on the position information and the current illumination direction of a plurality of offshore wind turbine foundations.
For example, since the offshore wind turbine foundations are generally set in groups, a plurality of offshore wind turbine foundations are generally set within a preset range, in this case, the position information of the plurality of offshore wind turbine foundations within the preset range may be acquired, the illumination direction is determined by combining the current illumination information, and the offshore wind turbine foundation capable of being in the light direction with the imaging device is selected as the target offshore wind turbine foundation.
In one embodiment, the method further comprises;
and adjusting the imaging direction of the imaging equipment to the target offshore wind turbine foundation.
Illustratively, the imaging direction of the imaging device is intelligently adjusted to be the same as the target offshore wind turbine foundation by the method, so that the imaging device can clearly and accurately acquire the image information of the target offshore wind turbine foundation in the light direction, and the subsequent analysis based on the clear image information is facilitated.
In one embodiment, the method further comprises:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
generating a shooting direction adjustment plan of the imaging device based on position information of a plurality of offshore wind turbines, position information of the imaging device and illumination track information at different moments in the preset range;
and inquiring the shooting direction adjustment plan based on the moment when the control state of the boarding bridge is switched to the follow-up state so as to determine the current target offshore wind turbine foundation and the orientation of the imaging equipment.
For example, because the position of the imaging device is constantly changed due to the influence of sea storms, and the illumination track is regularly circulated, the method uses the illumination track as a reference rule to determine how the position information of the imaging device should be changed to enable the imaging device to always obtain clear image information of the target offshore wind turbine foundation, so the method obtains the illumination track information at different times within the preset range to further determine a shooting direction adjustment plan of the corresponding imaging device, for example, the change of sunlight is known from east to west in the morning, and further the change of illumination is determined from west to east, so the shooting direction of the imaging device can be determined to be adjusted from west to east, that is, the sequence of the acquired target offshore wind turbine foundation is changed from west to east.
Illustratively, the specific implementation steps of the method may be: before the boarding corridor bridge enters an operation state, firstly, an electric and hydraulic system of the boarding corridor bridge is started, the boarding corridor bridge is in a standby state at the moment, and when an operator manually operates the boarding corridor bridge to reach a proper boarding position, the boarding corridor bridge enters a follow-up state through key switching. At the moment of switching the boarding bridge from manual operation to a follow-up state, the machine vision system acquires a fan foundation picture as a reference, when the postures of the ship and the corridor bridge change, the picture acquired by the machine vision changes, the graphic analysis and calculation system analyzes the change of the postures of the boarding corridor bridge system through comparison with the reference picture and calculates parameters of equipment movement to be compensated, the parameters are sent to a PLC (programmable logic controller) of the control equipment, the PLC controls the movement of a hydraulic system and an execution mechanism of the boarding corridor bridge according to the received compensation parameters, the compensation of the posture change of the corridor bridge is realized, and the boarding point is kept stable relative to the fan foundation.
Further, as an implementation of the method shown in fig. 1, an embodiment of the present invention further provides an attitude control device for a marine boarding corridor bridge, which is used for implementing the method shown in fig. 1. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. As shown in fig. 2, the apparatus includes: a switching unit 21, an obtaining unit 22, a comparing unit 23 and a calculating unit 24, wherein
A switching unit 21 for switching the control state of the boarding bridge to a follow-up state when the boarding bridge is at a preset position;
an obtaining unit 22, configured to obtain, as initial image information, an image of a target offshore wind turbine foundation within a preset range through an imaging device disposed in the boarding bridge while switching a control state of the boarding bridge to a follow-up state;
a comparison unit 23, configured to obtain, in real time, an image of the target offshore wind turbine foundation obtained by the imaging device in a follow-up state as comparison image information;
a calculating unit 24, configured to calculate a motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information.
For example, the calculating the motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information includes:
determining attitude change data of the boarding corridor bridge based on the initial image information and the comparison image information;
and calculating the boarding corridor bridge motion compensation parameters based on the attitude change data.
Illustratively, the imaging device is an industrial CCD image acquisition device.
Exemplarily, the above unit is further configured to:
acquiring the illumination intensity within the preset range;
and under the condition that the illumination intensity is smaller than the preset illumination intensity, supplementing light to the offshore wind turbine foundation.
Exemplarily, the above unit is further configured to:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
and selecting the offshore wind turbine foundation capable of being in the light direction with the imaging equipment as a target offshore wind turbine foundation based on the position information and the current illumination direction of the plurality of offshore wind turbine foundations.
Illustratively, the above units are also used for;
and adjusting the imaging direction of the imaging equipment to the target offshore wind turbine foundation.
Exemplarily, the above unit is further configured to:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
generating a shooting direction adjustment plan of the imaging device based on position information of a plurality of offshore wind turbines, position information of the imaging device and illumination track information at different moments in the preset range;
and inquiring the shooting direction adjustment plan based on the moment when the control state of the boarding bridge is switched to the follow-up state so as to determine the current target offshore wind turbine foundation and the orientation of the imaging equipment.
By means of the technical scheme, the attitude control device for the offshore boarding bridge, provided by the invention, has the advantages that for the problem that a more reliable and accurate control method is lacked when the boarding bridge is in butt joint with an offshore wind turbine foundation, the control state of the boarding bridge is switched to be a follow-up state under the condition that the boarding bridge is at a preset position, and an image of a target offshore wind turbine foundation in a preset range is obtained by an imaging device arranged on the boarding bridge and is used as initial image information to obtain an image of the target offshore wind turbine foundation in the follow-up state in real time as comparison image information while the control state of the boarding bridge is switched to be the follow-up state; and calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information. In the scheme, when the boarding corridor bridge reaches the proper boarding position, the boarding corridor bridge is controlled to be changed into a follow-up state, namely, the working state of automatic compensation is started, the method is used for judging the attitude change of the boarding corridor bridge and compensating the attitude change of the boarding corridor bridge, an absolutely static reference object on the sea surface, namely, the offshore wind turbine foundation can be selected, the position and the attitude of the wind turbine foundation cannot be changed due to the fact that the wind turbine foundation is fixed, initial image information of the offshore wind turbine foundation is obtained at the moment that the boarding corridor bridge is switched to the follow-up state, the position of the boarding corridor bridge is indirectly reflected on the basis of the position of the offshore wind turbine foundation and is used as a comparison basis of image information of the offshore wind turbine foundation obtained continuously in real time, the change of the attitude of the boarding corridor bridge can be determined through comparison of the image information of the offshore wind turbine foundation obtained subsequently, the motion compensation parameters can be determined on the basis of the compared change image information, the wind turbine foundation is selected as the reference object, imaging equipment on the boarding corridor bridge is static relative to the boarding corridor bridge, the image information of the boarding corridor bridge at different moments, the image information of the boarding corridor bridge can be used for determining the attitude of the opposite change of the attitude of the boarding corridor bridge, and the attitude of the boarding corridor bridge can be stably compensated for the attitude of the corridor bridge, and the attitude of the ascending corridor bridge.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, the attitude control method of the offshore boarding bridge is realized by adjusting the kernel parameters, and the problem that a more reliable and accurate control method is lacked when the boarding bridge is in basic butt joint with an offshore wind turbine can be solved.
An embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and the program is executed by a processor to implement the attitude control method for a marine boarding corridor bridge.
The embodiment of the invention provides a processor, which is used for running a program, wherein the attitude control method of the marine boarding corridor bridge is executed when the program runs.
The embodiment of the invention provides electronic equipment, which comprises at least one processor and at least one memory connected with the processor; the processor is used for calling the program instructions in the memory and executing the attitude control method of the marine boarding corridor bridge.
An embodiment of the present invention provides an electronic device 30, as shown in fig. 3, the electronic device includes at least one processor 301, at least one memory 302 connected to the processor, and a bus 303; wherein, the processor 301 and the memory 302 complete the communication with each other through the bus 303; processor 301 is configured to call program instructions in memory to perform the attitude control method of the marine boarding pass bridge described above.
The intelligent electronic device herein may be a PC, PAD, mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a flow management electronic device:
under the condition that the boarding bridge is at a preset position, switching the control state of the boarding bridge into a follow-up state;
switching the control state of the boarding corridor bridge to a follow-up state, and simultaneously acquiring an image of a target offshore wind turbine foundation in a preset range as initial image information through imaging equipment arranged on the boarding corridor bridge;
acquiring an image of the target offshore wind turbine foundation acquired by the imaging equipment in a follow-up state in real time as contrast image information;
and calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information.
Further, the calculating a motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information includes:
determining attitude change data of the boarding corridor bridge based on the initial image information and the comparison image information;
and calculating the boarding corridor bridge motion compensation parameters based on the attitude change data.
Further, the imaging device is an industrial CCD image acquisition device.
Further, the method further comprises:
acquiring the illumination intensity within the preset range;
and under the condition that the illumination intensity is smaller than the preset illumination intensity, supplementing light to the offshore wind turbine foundation.
Further, the method further comprises:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
and selecting the offshore wind turbine foundation capable of being in the light direction with the imaging equipment as a target offshore wind turbine foundation based on the position information and the current illumination direction of the plurality of offshore wind turbine foundations.
Further, the method also comprises the following steps;
and adjusting the imaging direction of the imaging equipment to the target offshore wind turbine foundation.
Further, the method further comprises:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
generating a shooting direction adjustment plan of the imaging device based on position information of a plurality of offshore wind turbine foundations, position information of the imaging device and illumination track information at different moments in the preset range;
and inquiring the shooting direction adjustment plan based on the moment when the control state of the boarding bridge is switched to the follow-up state so as to determine the current target offshore wind turbine foundation and the orientation of the imaging equipment.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable flow management electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable flow management electronic device, create means for implementing the functions specified in the flow diagram flow or flows and/or block diagram block or blocks.
In a typical configuration, an electronic device includes one or more processors (CPUs), memory, and a bus. The electronic device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage electronic devices, or any other non-transmission medium that can be used to store information that can be accessed by computing electronic devices. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or electronic device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or electronic device. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or electronic device that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for controlling the attitude of a marine boarding corridor bridge is characterized by comprising the following steps:
switching the control state of the boarding bridge to a follow-up state under the condition that the boarding bridge is at a preset position;
switching the control state of the boarding bridge to a follow-up state, and simultaneously acquiring an image of a target offshore wind turbine foundation in a preset range as initial image information through imaging equipment arranged on the boarding bridge;
acquiring an image of the target offshore wind turbine foundation acquired by the imaging equipment in a follow-up state in real time as contrast image information;
calculating a motion compensation parameter of the boarding corridor bridge based on the initial image information and the comparison image information.
2. The method of claim 1, wherein the calculating motion compensation parameters for the boarding corridor bridge based on the initial image information and the comparison image information comprises:
determining attitude change data of the boarding bridge based on the initial image information and the comparison image information;
calculating the boarding corridor bridge motion compensation parameters based on the attitude change data.
3. The method of claim 1, wherein the imaging device is an industrial CCD image capture device.
4. The method of claim 3, further comprising:
acquiring the illumination intensity within the preset range;
and under the condition that the illumination intensity is smaller than the preset illumination intensity, supplementing light to the offshore wind turbine foundation.
5. The method of claim 3, further comprising:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
based on the position information and the current illumination direction of the plurality of offshore wind turbine foundations, selecting an offshore wind turbine foundation capable of being in a light direction with the imaging device as a target offshore wind turbine foundation.
6. The method of claim 5, further comprising;
and adjusting the imaging direction of the imaging equipment to the target offshore wind turbine foundation.
7. The method of claim 3, further comprising:
acquiring position information of a plurality of offshore wind turbine foundations within the preset range;
generating a shooting direction adjustment plan of the imaging device based on the position information of the plurality of offshore wind turbine foundations, the position information of the imaging device and the illumination track information at different moments in the preset range;
and inquiring the shooting direction adjustment plan based on the moment when the control state of the boarding bridge is switched to the follow-up state so as to determine the current target offshore wind turbine foundation and the orientation of the imaging equipment.
8. The utility model provides an attitude control device of corridor bridge is embarked on sea which characterized in that includes:
the switching unit is used for switching the control state of the boarding bridge to a follow-up state under the condition that the boarding bridge is at a preset position;
the acquisition unit is used for acquiring an image of a target offshore wind turbine foundation within a preset range as initial image information through imaging equipment arranged on the boarding corridor bridge while switching the control state of the boarding corridor bridge to a follow-up state;
the comparison unit is used for acquiring the image of the target offshore wind turbine foundation acquired by the imaging equipment in a follow-up state in real time as comparison image information;
and the calculating unit is used for calculating the motion compensation parameters of the boarding corridor bridge based on the initial image information and the comparison image information.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the steps of the attitude control method of a marine boarding corridor bridge according to any one of claims 1 to 7 are implemented when the program is executed by a processor.
10. An electronic device, comprising at least one processor, and at least one memory coupled to the processor; wherein the processor is configured to invoke program instructions in the memory to perform the steps of the method of attitude control of a marine boarding pass bridge of any of claims 1 to 7.
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| CN202211077162.6A CN115439500A (en) | 2022-09-05 | 2022-09-05 | Attitude control method for marine boarding corridor bridge and related equipment |
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| CN202211077162.6A CN115439500A (en) | 2022-09-05 | 2022-09-05 | Attitude control method for marine boarding corridor bridge and related equipment |
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