CN116524042A - Positioning method and positioning system for workshop mobile equipment - Google Patents
Positioning method and positioning system for workshop mobile equipment Download PDFInfo
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Abstract
The invention discloses a workshop mobile equipment positioning method and a positioning system, comprising the steps of obtaining a working matrix support tool digital model, a working matrix digital model and a mobile equipment digital model, and generating a corresponding digital twin model under a virtual scene by adopting a digital twin technology; generating real-time dynamic mapping of a job parent body and mobile equipment in a physical scene in a virtual scene by adopting a digital twin technology; generating a positioning position projection area of the mobile equipment relative to the position of the operation parent body in the virtual scene; and controlling the mobile device to move, and moving the digital twin model of the mobile device into the positioning position projection area. According to the invention, a dynamic mapping between the operation parent body and the mobile equipment in a physical scene is established in a virtual scene by adopting a digital twin technology, and when the mobile equipment is positioned and moved, visual guidance can be provided for an operator through a display interface, so that the accuracy of the positioning position of the mobile equipment is ensured.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and particularly relates to a workshop mobile device positioning method and a positioning system.
Background
In the assembly of aerospace products, a fixed or pulsating production organization mode is generally adopted, and a large amount of work is generally required to be carried out on a single station in the two organization modes, so that the assembly process equipment used in the assembly process is generally mobile equipment, the required assembly process equipment is moved to the vicinity of a working matrix when the characteristic assembly task is required to be carried out, and the assembly process equipment is removed from the working position after assembly and installation.
On a fixed or pulsating production line, because the parking position of the working parent body is generally not accurately fixed and positioned, the relative position precision between the assembly process equipment and the working parent body is required to be higher when the assembly operation is performed, and great difficulty is caused to accurately position the mobile equipment such as the assembly process equipment, so that the efficiency of the assembly operation is affected.
Currently, in manufacturing workshops for large-scale products such as aerospace, the following methods are mainly adopted for positioning the position of the mobile device in the workshops: 1) An operator intuitively or empirically positions the mobile device, and the problem of inaccurate positioning exists in the mode; 2) The method is characterized in that positioning marks are pre-posted on the ground of a workshop, and the mobile equipment is positioned based on the ground positioning marks, but the method has the problem that the positioning positions are solidified and are difficult to adjust, and the method cannot be applied to the situation that the positions of the operation matrixes are changed frequently; 3) The method comprises the steps of establishing a workshop-level global measurement system by using an indoor GPS, adding a receiver on a mobile device to realize position measurement, planning a device moving route according to a measurement result, or establishing workshop-level global positioning based on WiFi, ultra-wideband (UWB), bluetooth and other technologies, and planning the device moving route according to the measurement result, wherein one common problem of the modes is that a large number of base stations are required to be arranged in a workshop, and the problem of high cost exists when the device is used in a large workshop; 4) The laser radar is used for constructing a workshop map, and the equipment is positioned according to a path set in advance, so that the method can only obtain the absolute position of the equipment in the workshop, and is also not suitable for the situation that the position of a working parent body is not fixed or measurement cannot be implemented.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system for a mobile device of a workshop, which are used for solving the problem that the mobile device for working the working mother body is difficult to accurately position under the condition that the position of the working mother body is not fixed or not accurately positioned in the workshop.
The invention is realized by the following technical scheme:
the positioning method of the workshop mobile equipment comprises the following steps:
acquiring a working matrix support tool digital model, a working matrix digital model and a mobile equipment digital model, and generating a corresponding digital twin model under a virtual scene by adopting a digital twin technology;
acquiring design position information of a working parent body and a working parent body supporting tool and current real-time position information of mobile equipment relative to the working parent body, and generating real-time dynamic mapping of the working parent body and the mobile equipment in a physical scene in a virtual scene by adopting a digital twin technology;
acquiring relative positioning position relation data between the mobile equipment and the operation matrix, and generating a positioning position projection area of the position of the mobile equipment relative to the operation matrix in a virtual scene;
and controlling the mobile device to move, and moving the digital twin model of the mobile device into the positioning position projection area.
As a further improvement to the above technical solution, the mobile device is moved to the vicinity of the work parent assembled to the work parent supporting tool, the positional information of a plurality of targets set on the work parent supporting tool is acquired through the binocular vision device set on the mobile device, and the current real-time positional information of the mobile device relative to the work parent is obtained based on the positional information of the targets.
As a further improvement to the technical scheme, when the mobile equipment is controlled to move, the real-time distance between the mobile equipment and the operation matrix supporting tool is obtained in the virtual scene, and collision early warning information is output when the real-time distance between the mobile equipment and the operation matrix supporting tool is smaller than a set threshold value.
In another aspect, the present invention further provides a positioning system for a mobile device in a workshop, including:
the measuring system comprises a binocular vision device arranged on the mobile device and a plurality of targets arranged on the operation matrix supporting tool, wherein the binocular vision device is used for acquiring the position information of each target and acquiring the current real-time position information of the mobile device relative to the operation matrix;
the digital twin system comprises a twin modeling unit, an image processing unit and a model mapping unit;
the twin modeling unit is used for generating a corresponding digital twin model in a virtual scene after acquiring the operation matrix support tool digital model, the operation matrix digital model and the mobile equipment digital model, and assembling the digital twin models of the operation matrix support tool and the operation matrix support tool according to the positioning assembly relation of the operation matrix and the operation matrix support tool;
the image processing unit is used for generating a positioning position projection area of the position of the mobile equipment relative to the operation parent body in the virtual scene after acquiring the relative positioning position relation data between the mobile equipment and the operation parent body;
the model mapping unit acquires current real-time position information of the operation matrix, the operation matrix supporting tool and the mobile equipment relative to the operation matrix, and generates real-time dynamic mapping of the operation matrix and the mobile equipment in the physical scene in the virtual scene.
As a further improvement to the above technical solution, the display device is included, and the display device is used for displaying the virtual scene image, the digital twin model and the positioning position projection area generated by the digital twin system.
As a further improvement to the above technical solution, the digital twin system further includes a collision early warning unit, where the collision early warning unit is configured to obtain a real-time distance between the mobile device and the working parent, and between the mobile device and the working parent support tool in the virtual scene, and output collision early warning information when the real-time distance between the mobile device and the working parent support tool is smaller than a set threshold.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, based on the positioning position relation between the operation parent body and the mobile equipment, the real-time relative position relation information between the mobile equipment and the operation parent body is obtained, the dynamic mapping between the operation parent body and the mobile equipment under the physical scene is established in the virtual scene by adopting the digital twin technology, the moving target area of the mobile equipment is determined in the virtual scene, and when the mobile equipment is positioned and moved, visual guidance can be provided for an operator through a display interface, so that the positioning position accuracy of the mobile equipment is ensured, and meanwhile, the operation efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a general frame diagram of a shop mobile device positioning system according to the present invention.
FIG. 2 is a schematic diagram of a method and system for locating a mobile device in a shop according to the present invention.
Fig. 3 is a schematic diagram of target position information collected by binocular vision equipment in the positioning method of the workshop mobile equipment of the present invention.
Fig. 4 is a schematic view of a projection area of a positioning position of a mobile device relative to a position of a working mother body in the positioning method of a mobile device in a workshop of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Referring to fig. 1 and 2, the shop mobile device positioning system in the present embodiment may include a measurement system, a digital twinning system, and a control system;
the measuring system comprises a binocular vision device arranged on the mobile device and a plurality of targets arranged on the operation matrix supporting tool, wherein the binocular vision device is used for collecting position information of each target and obtaining current real-time position information of the mobile device relative to the operation matrix.
Digital twinning systems typically employ digital twinning software, which typically includes a twinning modeling unit, an image processing unit, and a model mapping unit;
the twin modeling unit is used for generating a corresponding digital twin model in a virtual scene after acquiring the operation matrix support tool digital model, the operation matrix digital model and the mobile equipment digital model, and assembling the digital twin models of the operation matrix support tool and the operation matrix support tool according to the assembly relation of the operation matrix and the operation matrix support tool;
the image processing unit is used for generating a positioning position projection area of the position of the mobile equipment relative to the working matrix in the virtual scene after acquiring the relative positioning position relation data between the mobile equipment and the working matrix;
the model mapping unit acquires current real-time position information of the operation matrix, the operation matrix supporting tool and the mobile equipment relative to the operation matrix, and generates real-time dynamic mapping to the operation matrix and the mobile equipment in the physical scene in the virtual scene.
The digital twin system of course also typically includes a data acquisition unit for data acquisition during various processes, such as current real-time positional information of the mobile device relative to the job base acquired by the binocular vision apparatus.
The control system part mainly comprises a hand-held controller for controlling the movement of the mobile device.
The positioning system further comprises a display device, wherein the display device can adopt a large screen display for displaying the virtual scene image, the digital twin model, the positioning position projection area, the real-time dynamic position among the digital twin models and the like which are produced by the digital twin system.
In general, as an example of an assembly operation on a work parent, there are included a work parent which is required to perform the assembly operation, a work parent supporting tool for fixedly mounting the work parent, and a moving device for performing the assembly operation.
The operation matrix is usually positioned and assembled on the operation matrix supporting tool, and the positioning of the operation matrix on the supporting tool is realized through a specific positioning structure between the operation matrix and the operation matrix supporting tool.
Targets are respectively installed at each corresponding assembly position on the operation matrix supporting tool, and the targets are generally and fixedly installed on the operation matrix supporting tool, and have a determined relative position relationship; the installation position of the target on the operation matrix supporting tool can be calibrated in advance in the digital-analog of the operation matrix, and the target and the operation matrix supporting tool can be considered to have a definite positioning relationship.
The mobile device is used for completing the specific assembly work of the working matrix, and generally comprises an assembly process device for assembly work and an omni-directional mobile platform, wherein the assembly process device is arranged on the omni-directional mobile platform so as to facilitate the assembly process device to be moved to a required assembly position; usually, the assembly process equipment is fixedly arranged on the omnidirectional mobile platform, and a certain positioning position relationship exists between the assembly process equipment and the omnidirectional mobile platform. And binocular vision equipment is arranged on the omnidirectional mobile platform, and is fixedly connected with the omnidirectional mobile platform, and a certain positioning position relationship exists between the binocular vision equipment and the omnidirectional mobile platform. An omni-directional mobile platform may typically employ a conventional steering wheel omni-directional platform or a Mecanum wheel omni-directional platform.
Based on the positioning position relation, the real-time position of the target is obtained through the binocular vision equipment, so that the global structural position relation among the operation matrix, the operation matrix supporting tool and the mobile equipment can be obtained and used as a basis for positioning the mobile equipment.
Based on the workshop mobile equipment positioning system, the method for positioning the mobile equipment at each assembly position comprises the following steps:
1) A craftsman designs the parking position of the working matrix in the process design stage to obtain the design position information of the working matrix (working matrix supporting tool);
2) An operator guides the acquired operation matrix support tool digital model, operation matrix digital model and mobile equipment digital model into a twin modeling unit of a digital twin system, the twin modeling unit generates a corresponding digital twin model in a virtual scene, assembles the digital twin models of the operation matrix support tool digital model, the operation matrix support tool digital model and the mobile equipment digital model according to the positioning assembly relation of the operation matrix support tool and the operation matrix support tool digital model, and displays the digital twin models on a large-screen display device;
3) Based on the projection of the parking position of the working matrix, an operator operates the mobile device to move to the position where the working matrix is to be assembled, so that the binocular vision equipment on the mobile device covers a target at the position; referring to fig. 3, position information of a plurality of targets at the position on the work parent supporting tool is acquired through two cameras of the binocular vision device, and current real-time position information of the mobile device relative to the work parent is obtained based on the position information of the targets; generating current real-time position information of the mobile equipment relative to the operation parent in a virtual scene through a model state driving unit of the digital twin system based on the design position information of the operation parent and the current real-time position information of the mobile equipment relative to the operation parent, generating real-time dynamic mapping of the operation parent and the mobile equipment in a physical scene in the virtual scene, and displaying the real-time dynamic mapping on a large-screen display device;
4) In a graphic processing unit of the digital twin system, acquiring position parameters of a working matrix and relative positioning position relation data between mobile equipment and the working matrix in an assembled state, and generating a parking position projection of the working matrix and a positioning position projection area of the mobile equipment relative to the position of the working matrix in a virtual scene; referring to fig. 4, the positioning position of the mobile device relative to the position of the working parent is a target position to be moved by the mobile device, and when there are a plurality of target positions, the above operation can also be adopted to generate a plurality of target position projection areas, and display the target position projection areas on the large-screen display device;
5) And judging the movement direction of the mobile equipment according to the current position of the mobile equipment and the projection area (target position) of the positioning position, which are displayed on the display equipment, wherein an operator controls the mobile equipment to move, and the mobile equipment is moved into the projection area of the positioning position, so that the accurate positioning of the mobile equipment on the assembly position is realized.
In an embodiment, the digital twin system of the workshop mobile device positioning system further comprises a collision early warning unit, wherein the collision early warning unit acquires real-time distances between the mobile device and the operation matrix supporting tool in the virtual scene based on the received data, and outputs collision early warning information when the real-time distances between the mobile device and the operation matrix supporting tool are smaller than a set threshold value, so that collision between the mobile device and the operation matrix and between the mobile device and the operation matrix supporting tool in the operation process is prevented.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are used to indicate orientations or positional relationships based on those shown in the drawings, or those that are conventionally put in use in the product of the present invention, they are merely used to facilitate description of the present invention and simplify description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "horizontal," "vertical," and the like in the description of the present invention, if any, do not denote absolute levels or overhangs, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should 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 invention will be understood in specific cases by those of ordinary skill in the art.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (6)
1. The positioning method of the workshop mobile equipment is characterized by comprising the following steps of:
acquiring a working matrix support tool digital model, a working matrix digital model and a mobile equipment digital model, and generating a corresponding digital twin model under a virtual scene by adopting a digital twin technology;
acquiring design position information of a working parent body and a working parent body supporting tool and current real-time position information of mobile equipment relative to the working parent body, and generating real-time dynamic mapping of the working parent body and the mobile equipment in a physical scene in a virtual scene by adopting a digital twin technology;
acquiring relative positioning position relation data between the mobile equipment and the operation matrix, and generating a positioning position projection area of the position of the mobile equipment relative to the operation matrix in a virtual scene;
and controlling the mobile device to move, and moving the digital twin model of the mobile device into the positioning position projection area.
2. The positioning method of a shop mobile device according to claim 1, wherein the mobile device is moved to the vicinity of a work parent mounted on a work parent supporting tool, position information of a plurality of targets set on the work parent supporting tool is acquired by a binocular vision device set on the mobile device, and current real-time position information of the mobile device with respect to the work parent is obtained based on the position information of the targets.
3. The positioning method of a shop mobile device according to claim 1, wherein when the mobile device is controlled to move, a real-time distance between the mobile device and the working parent support tool is obtained in the virtual scene, and collision early warning information is output when the real-time distance between the mobile device and the working parent support tool is smaller than a set threshold.
4. Workshop mobile device positioning system, characterized by includes:
the measuring system comprises a binocular vision device arranged on the mobile device and a plurality of targets arranged on the operation matrix supporting tool, wherein the binocular vision device is used for acquiring the position information of each target and acquiring the current real-time position information of the mobile device relative to the operation matrix;
the digital twin system comprises a twin modeling unit, an image processing unit and a model mapping unit;
the twin modeling unit is used for generating a corresponding digital twin model in a virtual scene after acquiring the operation matrix support tool digital model, the operation matrix digital model and the mobile equipment digital model, and assembling the digital twin models of the operation matrix support tool and the operation matrix support tool according to the positioning assembly relation of the operation matrix and the operation matrix support tool;
the image processing unit is used for generating a positioning position projection area of the position of the mobile equipment relative to the operation parent body in the virtual scene after acquiring the relative positioning position relation data between the mobile equipment and the operation parent body;
the model mapping unit acquires current real-time position information of the operation matrix, the operation matrix supporting tool and the mobile equipment relative to the operation matrix, and generates real-time dynamic mapping of the operation matrix and the mobile equipment in the physical scene in the virtual scene.
5. The shop mobile device location system according to claim 4, comprising a display device for displaying the virtual scene image, the digital twinning model, the location projection area generated by the digital twinning system.
6. The shop mobile device positioning system according to claim 4, wherein the digital twinning system further comprises a collision pre-warning unit for acquiring real-time distances between the mobile device and the working parent support fixture in the virtual scene and outputting collision pre-warning information when the real-time distances between the mobile device and the working parent support fixture are smaller than a set threshold.
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| CN202310431985.2A CN116524042A (en) | 2023-04-21 | 2023-04-21 | Positioning method and positioning system for workshop mobile equipment |
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| CN202310431985.2A CN116524042A (en) | 2023-04-21 | 2023-04-21 | Positioning method and positioning system for workshop mobile equipment |
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| CN114580083A (en) * | 2022-03-11 | 2022-06-03 | 东北大学 | Construction method of intelligent assembly system based on digital twins |
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- 2023-04-21 CN CN202310431985.2A patent/CN116524042A/en active Pending
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| WO2022172146A1 (en) * | 2021-02-15 | 2022-08-18 | C.R.F. Societa' Consortile Per Azioni | Automotive cooperative map-free lane-level relative localization based on inter-vehicular communication |
| CN114580083A (en) * | 2022-03-11 | 2022-06-03 | 东北大学 | Construction method of intelligent assembly system based on digital twins |
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