CN-115359113-B - Method, equipment, system and field bridge for positioning field bridge cart

CN115359113BCN 115359113 BCN115359113 BCN 115359113BCN-115359113-B

Abstract

The application relates to the technical field related to engineering machinery, in particular to a field bridge cart positioning method, equipment and system and a field bridge cart, wherein the method comprises the steps of firstly acquiring a wide-angle image containing a marker in the running process of the field bridge cart, and controlling the field bridge cart to run in a preset area based on the wide-angle image; and determining any marker with the distance smaller than the preset distance from the field bridge cart as a center marker, then acquiring a second image containing the center marker, and finally determining the target position of the field bridge cart based on the second image. Therefore, the field bridge cart can always run in a preset area, and the field bridge cart is accurately positioned on the basis, so that the long bridge cart is ensured to work normally.

Inventors

WANG WEIZHI

Assignees

三一海洋重工有限公司

Dates

Publication Date: 20260508
Application Date: 20220613

Claims (9)

1.A method for locating a field bridge cart, comprising: in the running process of the on-site bridge cart, a first image containing a marker is acquired, wherein the first image is a wide-angle image, the marker is fixed at a plurality of positions in the extending direction of a running road of the on-site bridge cart, and the running road comprises a runway and a track; Controlling a field bridge cart to run in a preset area based on the first image; When the running road is a runway, the control of the field bridge cart to run in a preset area based on the first image comprises the steps of positioning the field bridge cart for the first time based on the first image to obtain a first position of the field bridge cart; and determining any marker with the distance from the field bridge cart smaller than the preset distance as a center marker; acquiring a second image comprising the center marker; determining a target position of the field bridge cart based on the second image; The method comprises the steps of determining the actual position of the center marker based on the preset number of the center marker, determining the distance deviation between the field bridge cart and the actual position of the center marker based on the position pixel deviation of the center marker in the second image and a second preset reference image, wherein the second preset reference image is an image shot at the position of the center marker in advance and comprises the center marker, and determining the target position of the field bridge cart based on the actual position of the center marker and the distance deviation.
2. The method for positioning a field bridge cart as defined in claim 1, wherein, When the running road is a track, the controlling the field bridge cart to run in the preset area based on the first image comprises controlling the field bridge cart to run on the track based on the first image.
3. The method for positioning a bridge cart according to claim 1, wherein the performing initial positioning on the bridge cart based on the first image to obtain a first position of the bridge cart includes: determining any marker in the first image as a target marker; Determining the actual position of the target marker based on the preset number of the target marker; Determining the distance deviation between a field bridge cart and the actual position of the target marker based on the position pixel deviation of the target marker in the first image and a first preset reference image, wherein the first preset reference image is an image which is shot at the position of the target marker in advance and contains the target marker; And determining a first position of the field bridge cart based on the actual position of the target marker and the distance deviation.
4. The method for positioning a field bridge cart according to claim 3, wherein determining a distance deviation of the field bridge cart from an actual position of the target marker based on a position pixel deviation of the target marker in the first image and a first preset reference image comprises: determining a first distance deviation of the actual position of the field bridge cart and the target marker in a direction parallel to the runway extension direction based on the longitudinal pixel deviation of the position of the target marker in the first image and the first preset reference image; Determining a second distance deviation of the actual position of the field bridge cart and the target marker in the direction perpendicular to the runway extension direction based on the position transverse pixel deviation of the target marker in the first image and the first preset reference image; the determining a first position of a field bridge cart based on the target marker actual position and the distance deviation includes: And determining the first position of the field bridge cart based on the actual position of the target marker, the first distance deviation and the second distance deviation.
5. The method for positioning a field bridge cart according to claim 1, wherein determining a distance deviation of the field bridge cart from an actual position of the center marker based on a position pixel deviation of the center marker in the second image and a second preset reference image comprises: Determining a first distance deviation of the actual position of the field bridge cart and the center marker in a direction parallel to the runway extension direction based on the longitudinal pixel deviation of the positions of the center marker in the second image and the second preset reference image; When the running road is a runway, determining the distance deviation between the field bridge cart and the actual position of the center marker based on the position pixel deviation of the center marker in the second image and the second preset reference image further comprises: Determining a second distance deviation of the actual position of the field bridge cart and the center marker in a direction perpendicular to the runway extension direction based on the position transverse pixel deviation of the center marker in the second image and the second preset reference image; When the running road is a track, the method for determining the target position of the field bridge cart based on the actual position of the center marker and the distance deviation comprises the steps of determining the target position of the field bridge cart based on the actual position of the center marker, the first distance deviation and preset field bridge cart track information; When the running road is a runway, the determining the target position of the field bridge cart based on the actual position of the center marker and the distance deviation comprises determining the target position of the field bridge cart based on the actual position of the center marker, the first distance deviation and the second distance deviation.
6. The field bridge cart positioning device is characterized by comprising a control calculation module, a first camera device and a second camera device; The first camera device and the second camera device are arranged on the field bridge cart and are in communication connection with the control calculation module; the first image pickup device is a wide-angle image pickup device; The control calculation module is used for controlling the first camera to shoot a first image containing a marker, and controlling the field bridge cart to run in a preset area based on the first image, wherein the marker is fixed at a plurality of positions in the extending direction of a running road of the field bridge cart, and the running road comprises a runway and a track; The control calculation module is specifically used for carrying out primary positioning on the field bridge cart based on the first image to obtain a first position of the field bridge cart; the control calculation module is further used for determining any marker with the distance smaller than a preset distance from the field bridge cart as a center marker based on the first image; The control calculation module is further used for controlling the second camera to shoot a second image containing the center marker and determining the target position of the field bridge cart based on the second image; The control calculation module is specifically configured to determine an actual position of the center marker based on a preset number of the center marker, determine a distance deviation between a field bridge cart and the actual position of the center marker based on a position pixel deviation of the center marker in the second image and a second preset reference image, wherein the second preset reference image is an image which is captured at the position of the center marker in advance and contains the center marker, and determine a target position of the field bridge cart based on the actual position of the center marker and the distance deviation.
7. The field bridge cart positioning apparatus of claim 6, wherein said first camera device is disposed at a first location on the field bridge cart and said second camera device is disposed at a second location on the field bridge cart, said first location being higher than said second location.
8. A field bridge cart positioning system comprising a plurality of markers disposed in a field bridge cart travel path area and distributed along a direction of extension of the field bridge cart travel path, and a positioning apparatus according to any one of claims 6-7.
9. A field bridge comprising a field bridge cart positioning apparatus according to any one of claims 6-7.

Description

Method, equipment, system and field bridge for positioning field bridge cart Technical Field The application relates to the technical field related to engineering machinery, in particular to a field bridge cart positioning method, field bridge cart positioning equipment, field bridge cart positioning system and field bridge cart. Background With the development of logistics industry, field bridge trolleys are widely used because of high loading and unloading efficiency. When the field bridge cart is used for loading and unloading operations, the field bridge cart and cargoes need to be positioned, so that accurate loading and unloading are realized. In the prior art, a field bridge cart is generally positioned by adopting a GPS positioning or image recognition method, but the GPS positioning device has a complex structure, poor stability and generally lower positioning precision, and influences the operation accuracy. The image recognition positioning is to position the field bridge cart by shooting and recognizing the markers arranged near the runway, although the positioning precision is higher, when the field bridge cart moves out of the track due to abnormality, and when the field bridge cart does not have a fixed track, the field bridge cart is difficult to position after deviating from the runway, so that the operation cannot be normally performed, and therefore, a technology which has high precision and can position the field bridge cart without the runway is urgently needed. Disclosure of Invention In view of the above, the present invention is directed to providing a high-precision positioning method capable of positioning a field bridge cart. In a first aspect, the present invention provides a method for positioning a field bridge cart, including: In the running process of the on-road cart, a first image containing a marker is acquired, wherein the first image is a wide-angle image, the marker is fixed at a plurality of positions in the extending direction of a runway of the on-road cart running road, and the running road comprises the runway and the track; Controlling a field bridge cart to run in a preset area based on the first image; and determining any marker with the distance from the field bridge cart smaller than the preset distance as a center marker; acquiring a second image comprising the center marker; And determining the target position of the field bridge cart based on the second image. Optionally, when the running road is a track, the controlling the field bridge cart to run in a preset area based on the first image includes controlling the field bridge cart to run on the track based on the first image; When the running road is a runway, the controlling the field bridge cart to run in a preset area based on the first image includes: performing primary positioning on the field bridge cart based on the first image to obtain a first position of the field bridge cart; And controlling the field bridge cart to run in the preset area based on the position relation between the first position of the field bridge cart and the preset area. Optionally, preset numbers corresponding to the actual positions of the markers are arranged on the markers. Optionally, the first positioning the bridge cart based on the first image, to obtain a first position of the bridge cart, includes: determining any marker in the first image as a target marker; Determining the actual position of the target marker based on the preset number of the target marker; Determining the distance deviation between a field bridge cart and the actual position of the target marker based on the position pixel deviation of the target marker in the first image and a first preset reference image, wherein the first preset reference image is an image which is shot at the position of the target marker in advance and contains the target marker; And determining a first position of the field bridge cart based on the actual position of the target marker and the distance deviation. Optionally, the determining the distance deviation of the field bridge cart from the actual position of the target marker based on the position pixel deviation of the target marker in the first image and the first preset reference image includes: determining a first distance deviation of the actual position of the field bridge cart and the target marker in a direction parallel to the runway extension direction based on the longitudinal pixel deviation of the position of the target marker in the first image and the first preset reference image; Determining a second distance deviation of the actual position of the field bridge cart and the target marker in the direction perpendicular to the runway extension direction based on the position transverse pixel deviation of the target marker in the first image and the first preset reference image; the determining a first position of a field bridge cart based on the target marker actual position and the distance deviation i