CN217034262U - Pose measuring device and system - Google Patents
Pose measuring device and system Download PDFInfo
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- CN217034262U CN217034262U CN202220447403.0U CN202220447403U CN217034262U CN 217034262 U CN217034262 U CN 217034262U CN 202220447403 U CN202220447403 U CN 202220447403U CN 217034262 U CN217034262 U CN 217034262U
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Abstract
The utility model relates to a pose measuring device and a pose measuring system, wherein the pose measuring device comprises: the first GPS receiver is arranged on the object to be detected and is used for receiving satellite positioning signals; the communication module is used for communicating with an RTK reference station arranged on a wharf and receiving a carrier signal sent by the RTK reference station; and the pose calculation module is connected with the first GPS receiver and the communication module and is used for receiving the satellite positioning signal and the carrier signal. The pose measuring device can obtain the position information of the object to be measured based on the first GPS receiver, the communication module and the pose calculating module, so that the position information of the object to be measured can be accurately measured.
Description
Technical Field
The utility model relates to the technical field of pose measurement, in particular to a pose measurement device and a pose measurement system.
Background
Coal is the most important energy in China and is closely related to the production and life of people. How to ensure the loading and unloading efficiency of the coal wharf is an important guarantee for the normal circulation of coal. The guarantee of the loading and unloading efficiency mainly depends on the fixed point accuracy of the cargo ship and the real-time data return.
However, the inventor finds that the traditional mapping method is generally adopted for the position and orientation measurement of the large cargo ship of the port at present in the implementation process. The surveying and mapping mode mainly depends on manual work, and the measuring precision is difficult to guarantee due to the randomness of the operation behaviors of workers.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide a pose measurement apparatus and a pose measurement system with high measurement accuracy.
A pose measurement apparatus comprising:
the first GPS receiver is arranged on the object to be detected and is used for receiving satellite positioning signals;
the communication module is used for communicating with an RTK reference station arranged on a wharf and receiving a carrier signal sent by the RTK reference station;
and the pose calculation module is connected with the first GPS receiver and the communication module and is used for receiving the satellite positioning signal and the carrier signal.
In one embodiment, the apparatus further comprises:
and the inertial sensor is arranged on the object to be detected and connected with the pose calculation module.
In one embodiment, the communication module is a 5G network transparent transmission module.
In one embodiment, the first GPS receiver includes a triple-band satellite receiving antenna.
In one embodiment, the pose calculation module includes:
the processor is connected with the first GPS receiver and the communication module;
and the output module is connected with the processor.
In one embodiment, the communication module is used to connect to a remote terminal.
In one embodiment, the apparatus further comprises:
and the power supply is connected with the pose calculation module.
In one embodiment, the apparatus further includes:
and the peripheral is connected with the pose calculation module.
A pose measurement system, comprising:
the above pose measuring apparatus;
and the RTK reference station is arranged on the code head and is used for receiving the satellite positioning signal and outputting the carrier signal.
The pose measuring device comprises a first GPS receiver, a second GPS receiver and a pose measuring device, wherein the first GPS receiver is arranged on an object to be measured and is used for receiving satellite positioning signals; the communication module is used for communicating with an RTK base station arranged on a wharf and receiving a carrier signal sent by the RTK base station; the position and pose calculation module is connected with the first GPS receiver and the communication module and used for receiving the satellite positioning signals and the carrier signals, and the position and pose measurement device can obtain the position information of the object to be measured based on the first GPS receiver, the communication module and the position and pose calculation module, so that the accurate measurement of the position information of the object to be measured is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a block diagram of a pose measurement apparatus in an embodiment;
FIG. 2 is a block diagram of a pose measurement device in another embodiment;
FIG. 3 is a block diagram of a pose computation module in an embodiment;
FIG. 4 is a block diagram of a pose measurement system in an embodiment;
fig. 5 is a schematic structural diagram of a pose measurement system in an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first resistance may be referred to as a second resistance, and similarly, a second resistance may be referred to as a first resistance, without departing from the scope of the present application. The first resistance and the second resistance are both resistances, but they are not the same resistance.
It is to be understood that "connection" in the following embodiments is to be understood as "electrical connection", "communication connection", and the like if the connected circuits, modules, units, and the like have communication of electrical signals or data with each other.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
As described in the background art, the efficiency of coal loading and unloading in a port and other scenes is directly affected by the positioning accuracy of a cargo ship, and in order to solve the problem that the existing port loading and unloading efficiency is not high, an embodiment of the present application is summarized, as shown in fig. 1, which provides a pose measuring device, including:
the first GPS receiver 200 is disposed on the object to be measured and configured to receive a satellite positioning signal.
The Satellite positioning signal refers to a positioning signal received through communication with a Satellite, and may include, for example, a GPS (Global Navigation Satellite System), a GNSS (Global Navigation Satellite System), a beidou Satellite signal, and the like. The object to be monitored comprises a common object to be monitored in a port such as a cargo ship.
A communication module 300, configured to communicate with an RTK (Real Time Kinematic) reference station disposed on a dock, and receive a carrier signal sent by the RTK reference station. The RTK reference station communicates with a satellite, receives a satellite positioning signal, and has a function of converting the satellite positioning signal received by the RTK reference station into a carrier signal and transmitting the carrier signal through a radio station and the like.
And the pose calculation module 400 is connected with the first GPS receiver and the communication module and is used for receiving the satellite positioning signal and the carrier signal. Based on the existing RTK positioning algorithm, the pose calculation module can calculate to obtain a differential signal according to the satellite positioning signal and the carrier signal, so that the relative position information of an object to be measured (such as a cargo ship on the sea) compared with an RTK reference station is obtained. And because the RTK reference station is fixedly arranged on the wharf, the distance between the object to be measured and the wharf can be known, and the working arrangement of the ship loader can be carried out by the staff according to the distance condition.
Specifically, considering that coal is generally transported by a large cargo ship at present, the position and attitude information of the large cargo ship needs to be measured in the coal loading and unloading process, the position and attitude measurement of the large cargo ship is generally completed by a traditional surveying and mapping method and requires cooperation of multiple persons, so that the labor consumption is high, and the measurement precision is low. Therefore, the position and orientation measuring device in the application is used for measuring the position and orientation information of the large cargo ship, in the position and orientation measuring device, after a carrier signal sent by an RTK reference station arranged on a wharf is received through a communication module, differential data are obtained through calculation based on the carrier signal and a satellite positioning signal obtained by a first GPS receiver arranged on the cargo ship, then the differential data are processed to obtain accurate position and orientation information of the cargo ship, workers on the wharf can guide a loading and unloading vehicle to work according to the position and orientation information, and the loading and unloading efficiency in the cargo transportation process can be improved through the position and orientation measuring device.
In addition, the pose measuring device is high in measuring precision, multi-person cooperation is not needed, and measuring work can be completed, so that labor cost is reduced.
As shown in fig. 2, in one embodiment, the apparatus further comprises:
and the inertial sensor 500 is arranged on the object to be detected and is connected with the pose calculation module.
Among them, the inertial sensor is mainly used for detecting and measuring acceleration, inclination, impact, vibration, rotation and multi-degree-of-freedom motion. When the communication is smooth, the pose calculation module calculates the relative position between the object to be measured and the RTK reference station, and then, if shielding and/or signals exist in the signal transmission and/or measurement process, the current position relation between the object to be measured and the RTK reference station can be determined based on the relative position result calculated when the communication is smooth and the speed, the acceleration, the rotation angle and the like measured by the inertial sensor, so that the stable measurement can be ensured. The measuring accuracy can be guaranteed, and the reliability of the side face can also be guaranteed.
In one embodiment, the communication module is a 5G network transparent transmission module. The 5G network transparent transmission module supports a transmission protocol and can be provided with an SIM card, so that the purpose of expanding the use range of the pose measuring device is achieved. In addition, the 5G network transparent transmission module can improve the communication speed between the RTK reference station and the pose calculation module, so that workers can carry out loading and unloading work arrangement in the first time, and the loading and unloading efficiency of the port and the wharf is further improved.
The RTK base station and the pose calculation module can communicate in a message mode. And the 5G network transparent transmission module waits for the RTK reference station to feed back the RTCM32 message after sending the effective GPGGA message to the RTK reference station.
In one embodiment, the first GPS receiver comprises a triple-band satellite receiving antenna. The tri-band satellite receiving antenna refers to a satellite receiving antenna which can be used for receiving three frequency bands. By adopting the three-frequency satellite receiving antenna, the stability of receiving the satellite positioning signal can be kept in the sailing process of objects to be measured such as cargo ships and the like, so that the reliability of the pose measuring device is improved.
In one embodiment, as shown in fig. 3, the pose calculation module 400 includes:
and a processor 410 connected with the first GPS receiver and the communication module.
The processor 410 may be an MCU microprocessor or other component with processing and computing functions.
The output module 420 is connected with the processor.
The output module 420 is configured to output a processing result of the processor 410. It should be emphasized that, here, the processor 410 may be an existing processor capable of executing an RTK algorithm, and the present application focuses on protecting an apparatus including these hardware devices, and the solution to the above problems mainly depends on the position setting relationship of the hardware devices in the port and terminal scene and the communication connection relationship between each hardware, and does not involve the improvement of the method.
In one embodiment, the communication module 300 is used to connect to a remote terminal. The remote terminal can be a mobile phone, a computer, a tablet and other terminal equipment of a worker. For example, when the object to be measured is a large cargo ship, the remote terminal may be a control room on a dock, the pose calculation module 400 may send the calculation result to the control room through the communication module 300, and a worker may know the relative position relationship between the cargo ship and the dock in the control room at the first time and then perform loading and unloading work arrangement.
In one embodiment, as shown in fig. 2, the apparatus further comprises:
and the memory 600 is connected with the pose calculation module 400.
The memory is used for storing configuration information of the RTK base station, where the configuration information includes an address, a port, an account number, and the like, and the pose calculation module 400 can read the configuration information from the memory.
In one embodiment, as shown in fig. 2, the apparatus further comprises:
and the power supply 700 is connected with the pose calculation module 400. Power may also be supplied to the communication module 300 and also to the first GPS receiver 200.
The power supply can be a dry battery and/or a storage battery and is used for supplying power to the pose calculation module 400 and other components in the pose measurement device.
In one embodiment, as shown in fig. 2, the apparatus further comprises:
and the peripheral equipment 800 is connected with the pose calculation module 400.
The peripheral device 800 may be a module having an input function, such as a USB interface, a mouse, or a keyboard, and may input/acquire data to the posture calculation module 400 through the peripheral device. For example, the configuration information may be input through the peripheral device 800, and the calculation result of the pose calculation module 400 may also be read through the peripheral device 800.
On the other hand, in an embodiment of the present application, as shown in fig. 4, there is also provided a pose measurement system including:
the above-described pose measurement apparatus 1000;
an RTK reference station 2000, the RTK reference station 2000 being provided on the code head for receiving the satellite positioning signal and outputting a carrier signal.
Wherein, the RTK reference station 2000 may include:
a second GPS receiver 2100 and a data transmitting device 2200.
The second GPS receiver 2100 is connected to the data transmitting device 2200 for receiving satellite positioning signals.
The data transmitting device 2200 is connected to the pose measuring device 1000, and is configured to output a carrier signal to the pose measuring device 1000.
At present, a large cargo ship is generally adopted to transport coal, the position and attitude information of the large cargo ship needs to be measured in the coal loading and unloading process, the position and attitude measurement of the large cargo ship is generally completed by a traditional surveying and mapping method in a multi-person cooperation mode, manpower is consumed, and the measurement precision is low. Therefore, in the present application, the position and orientation measuring device is used to measure the position and orientation information of the large cargo ship, and in one embodiment, as shown in fig. 5, a first GPS receiver is disposed behind the cargo ship, and communicates with an RTK base station 2000 disposed on a dock through a communication module 300, so as to receive a carrier signal transmitted by a data transmitting device 2100 in the RTK base station 2000, and then the position and orientation calculating module 400 is used to calculate the position and orientation information of the large cargo ship based on the received satellite positioning signal and carrier signal transmitted by the first GPS receiver 200. After being used for large-scale cargo ship, not only can be more accurate calculate cargo ship's positional information, also need not many people and can realize the measurement of position appearance information simultaneously, realized unmanned autonomous survey, promoted measurement of efficiency when practicing thrift the cost. In addition, when the transmission data is lost in the measurement process or a signal blocking object exists between the cargo ship and the dock reference station to cause that the signal cannot be transmitted, the position of the cargo ship can be calculated on the basis of the angular velocity and the acceleration through the inertial sensor 500 which is installed on the cargo ship and connected with the pose calculation module 400, so that the stable measurement is ensured, and the stability of the pose measurement device 1000 is improved. It should be noted that, although components such as the peripheral 800 are not shown in fig. 5, it should be understood by those skilled in the art that other components of the posture measuring apparatus 1000 may be included in the system.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A pose measurement apparatus, characterized by comprising:
the first GPS receiver is arranged on the object to be detected and is used for receiving satellite positioning signals;
the communication module is used for communicating with an RTK reference station arranged on a wharf and receiving a carrier signal sent by the RTK reference station;
and the pose calculation module is connected with the first GPS receiver and the communication module and is used for receiving the satellite positioning signal and the carrier signal.
2. The apparatus of claim 1, further comprising:
and the inertial sensor is arranged on the object to be detected and is connected with the pose calculation module.
3. The apparatus of claim 1, wherein the communication module is a 5G network transparent transmission module.
4. The apparatus of claim 1, wherein the first GPS receiver comprises a triple-band satellite receiving antenna.
5. The apparatus according to claim 1, characterized in that the pose calculation module comprises:
a processor connected with the first GPS receiver and the communication module;
and the output module is connected with the processor.
6. The apparatus of claim 1, wherein the communication module is configured to connect to a remote terminal.
7. The apparatus of any of claims 1-6, further comprising:
and the memory is connected with the pose calculation module.
8. The apparatus of any one of claims 1-6, further comprising:
and the power supply is connected with the pose calculation module.
9. The apparatus of any one of claims 1-6, further comprising:
the peripheral is connected with the pose calculation module.
10. A pose measurement system, characterized by comprising:
the pose measurement device of any one of claims 1-9;
and the RTK reference station is arranged on the code head and is used for receiving the satellite positioning signal and outputting the carrier signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220447403.0U CN217034262U (en) | 2022-03-02 | 2022-03-02 | Pose measuring device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220447403.0U CN217034262U (en) | 2022-03-02 | 2022-03-02 | Pose measuring device and system |
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| Publication Number | Publication Date |
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| CN217034262U true CN217034262U (en) | 2022-07-22 |
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| CN202220447403.0U Active CN217034262U (en) | 2022-03-02 | 2022-03-02 | Pose measuring device and system |
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