CN-121979289-A - Sensor-based axis vehicle accurate pose adjustment method

CN121979289ACN 121979289 ACN121979289 ACN 121979289ACN-121979289-A

Abstract

The invention discloses a sensor-based accurate position and orientation adjustment method for an axis vehicle. The method comprises the steps of firstly, performing early-stage operation preparation, dividing a pose adjustment region and a final pose region, and arranging ultrasonic and laser detection equipment. In the adjustment process, the coordinates, deflection angles and distance deviations between the axis car and the side lines are calculated by a computer through collecting ultrasonic ranging data in real time, and are fed back to a driver in real time for preliminary adjustment. And when the two paths of laser signals are normally received, judging that the axis vehicle is in the final posture without steering correction. Then, the driver can keep the current posture to run straight, and the vehicle is controlled to completely run into the final designated area according to the difference value of the forward distance calculated by the computer. According to the invention, through real-time detection and data feedback of the sensor, the dependence on the experience of a driver is obviously reduced, and the accurate and efficient adjustment of the axial parking position and posture is realized.

Inventors

ZHANG CHENJIA
ZHANG SHIHAO
HAI YAN
LIU RONGKAI
ZHOU XIAOCHAO

Assignees

天津博迈科海洋工程有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (5)

1. The axis vehicle accurate pose adjusting method based on the sensor is characterized by comprising the following steps of: Firstly, dividing a final axis parking position and pose area (10) and an axis vehicle pose adjustment area (6) in a loading site before calculating the axis parking position and pose, wherein the final axis parking position and pose area is an area for loading large-scale structures, and the pose adjustment area of the axis vehicle is an area for adjusting the pose of the axis vehicle to a set pose before the axis vehicle (5) enters the final axis parking position and pose area; Secondly, according to the size of the axis vehicle and the actual situation of the site, a final posture change range of the axis vehicle is selected, and when the posture of the axis vehicle is in the final posture change range, the posture is regarded as the final posture; The system comprises an axis vehicle, a loading construction site, a position detection device, a state feedback device, a position adjustment device and a position adjustment device, wherein the position detection device is used for detecting the position of the axis vehicle, the position of the axis vehicle is detected by the position detection device, the position detection device is used for detecting the position of the axis vehicle, and the position of the axis vehicle is detected by the position detection device; Finally, a coordinate system for pose calculation is established on a loading construction site, the positions of the ultrasonic transmitters in the coordinate system are calibrated, and meanwhile, the related geometric parameters between the first ultrasonic transmitter (8) and each laser transmitter are measured and recorded, so that basic data are provided for the calculation of the pose of the follow-up axis vehicle; step two, calculating the current position coordinates and the central line deflection angle of the axis car and the first vertical distance deflection value between the left corner point of the axis car and the left line of the final axis car pose area and the second vertical distance deflection value between the right corner point of the axis car and the right line of the final axis car pose area in real time by acquiring distance data between an ultrasonic transmitter arranged on a loading site and a receiver arranged on the axis car, and feeding back pose parameters to a driver in real time to guide the driver to finish accurate pose adjustment; judging whether the first laser receiver (2) can receive the laser signal sent by the first laser emitter (11) or not, and judging whether the second laser receiver (4) can receive the laser signal sent by the second laser emitter (12) or not, if so, considering that the posture of the axis car is in a final posture without adjustment, and executing the fourth step; otherwise, the central line is deflected by an angle First vertical distance deviation value Deviation from a second vertical distance The second laser receiver and the third laser receiver are repeatedly executed until the first laser receiver and the second laser receiver can both receive laser signals, and the fourth step is executed; And fourthly, the driver of the axis vehicle keeps the final posture in the third step to run in a straight line, meanwhile, the difference of the advancing distance between the front edge line of the head of the axis vehicle and the front edge line of the final axis vehicle posture area is calculated by utilizing a computer, and the driver of the axis vehicle controls the axis vehicle to completely drive into the final axis vehicle posture area by utilizing the difference of the advancing distance.
2. The sensor-based axis vehicle precision pose adjustment method according to claim 1, wherein said pre-job preparation comprises the steps of: step 101, determining a final axis parking position and posture area on a construction site, wherein the length and the width of the divided final axis parking position and posture area are the same as those of an axis vehicle, and the divided final axis parking position and posture area can avoid each hydraulic supporting point for jacking a large-scale structure; 102, dividing a pose adjustment area behind a final axis pose area, wherein the central line of the pose adjustment area coincides with the central line of a final axis pose area (10), and each hydraulic support point can be avoided in the process of driving to the final axis pose area along the pose adjustment area after the axis vehicle is in the final pose; step 103, according to the maximum allowable deflection value Maximum allowable deviation value Setting the final attitude change range of the axis vehicle, wherein the maximum allowable deflection value is the maximum allowed included angle between the central line of the axis vehicle and the central line of the final axis vehicle attitude area, and the maximum allowable deflection value is the maximum allowed absolute value of the first vertical distance deflection value between the left upper corner point of the axis vehicle and the left edge line of the final axis vehicle attitude area and the second vertical distance deflection value between the right upper corner point of the axis vehicle and the right edge line of the final axis vehicle position area, when the absolute value of the actual central line deflection angle of the axis vehicle is smaller than the maximum allowed deflection value And the absolute value of the first vertical distance deviation value and the absolute value of the second vertical distance deviation value are smaller than the maximum allowable deviation value The axis vehicle is considered to be in a final posture; 104, respectively installing a first ultrasonic receiver (3) and a second ultrasonic receiver (7) at the intersection of the central line of the axial vehicle and the front edge line of the vehicle head and the intersection of the central line of the axial vehicle and the rear edge line of the vehicle tail, respectively installing a first laser receiver (2) and a second laser receiver (4) at the left edge side and the right edge side of the axial vehicle head, and respectively symmetrically installing a second ultrasonic transmitter (1) and a first ultrasonic transmitter (8) at the left lower corner and the right lower corner outside the pose adjusting region (6) by taking the central line of the pose adjusting region (6) as a symmetrical axis; The method comprises the steps that a first laser emitter (11), a second laser emitter (12) and a third laser emitter (13) are arranged outside a final axis parking position and attitude area (10), and projections of laser emitted by the first laser emitter and the second laser emitter are respectively positioned on extension lines of left side lines and right side lines of the final axis parking position and attitude area; The widths of the first laser receiver and the second laser receiver are not more than k through formula calculation, the widths are the range in which the laser receiver can receive laser signals, and the formula is as follows: ; Wherein c is the length of the axis vehicle; The width of the first laser receiver and the width of the second laser receiver are within a set width range, when the axis vehicle is in the final gesture set in the step 103, the first laser receiver (2) can receive a laser signal sent by the first laser transmitter (11), the second laser receiver (4) can receive the second laser transmitter (12), and when the axis vehicle is completely positioned in the final axis vehicle gesture area, the second laser sensor receiver can receive a laser signal sent by the third laser transmitter (13); When the axis vehicle is positioned in the pose adjustment area, the first ultrasonic receiver (3) can receive ultrasonic signals sent by the second ultrasonic transmitter (1) and the first ultrasonic transmitter (8), and the second ultrasonic receiver (7) can receive ultrasonic signals sent by the second ultrasonic transmitter (1) and the first ultrasonic transmitter (8) when the ultrasonic transmitter and the ultrasonic receiver are in an effective distance measurement range; 105, establishing a coordinate system by taking the center of the first ultrasonic transmitter as a coordinate origin, taking the direction of the central line of the final axis vehicle position and posture area as the x-axis direction and taking the direction perpendicular to the central line of the final axis vehicle position and posture area as the y-axis direction; Measuring the vertical distance between the first ultrasonic emitter (8) and the second ultrasonic emitter (1) at the construction site Vertical distance between the first ultrasonic transmitter and the first laser transmitter (11) Vertical distance between first ultrasonic emitter and second laser emitter (12) Horizontal distance between the first ultrasonic transmitter and the third laser transmitter (13) ; Marking the position coordinates of the central point of the first ultrasonic transmitter (8) in a coordinate system as The position coordinates of the central point of the second ultrasonic transmitter (1) in the coordinate system are ; Step 106, the axis car driver drives the axis car, enters the pose adjustment area and waits for pose detection.
3. The sensor-based axis vehicle accurate pose adjustment method according to claim 2, characterized in that the maximum allowable deflection value Not greater than 5 DEG, maximum allowable deviation value Not more than 10mm.
4. The method for adjusting the accurate pose of the axis vehicle based on the sensor according to claim 2, wherein the second step comprises the following steps: step 201, reading the distance between the first ultrasonic transmitter (8) and the first ultrasonic receiver (3) And the distance between the first ultrasonic transmitter and the second ultrasonic receiver (7) Reading the distance between the second ultrasonic transmitter and the first ultrasonic receiver (3) And a distance between the second ultrasonic transmitter and the second ultrasonic receiver The first ultrasonic receiver and the second ultrasonic receiver are read to obtain the numerical value , , , Converting the digital signals into digital signals and loading the digital signals into a computer; step 202, calculating the position coordinates of the second ultrasonic receiver (7) in the coordinate system established in step 104 by using a computer Position coordinates of the first ultrasonic receiver (3) in a coordinate system The calculation formulas are respectively as follows: ; Step 203, calculating the included angle between the central line of the axial vehicle and the central line of the final axial vehicle pose area, namely the deflection angle The calculation formula is as follows: ; Step 204, calculating a first vertical distance deviation value between the left upper corner point of the axis vehicle and the left edge line of the final axis vehicle pose area And a second vertical distance deviation value between the right upper corner point of the axis vehicle and the right edge line of the final axis vehicle pose area The calculation formula is as follows: ; where w is the width of the axis car.
5. The method for adjusting the accurate pose of the axis vehicle based on the sensor according to claim 2, wherein the fourth step comprises the following steps: Step 401, calculating the difference value of the advancing distance between the front edge line of the axle head and the front edge line of the final axle parking position and pose area by using a computer The calculation formula is as follows: ; Wherein, the For the horizontal distance between the first ultrasonic emitter and the third laser emitter, Real-time horizontal position coordinate information of the first ultrasonic receiver; Step 402, the difference value of the advancing distance between the front edge line of the axle head and the front edge line of the final axle vehicle pose area Feedback to the driver, the driver through observation And controlling the axis vehicle to run straight and simultaneously controlling the speed according to the difference value of the forward distance until the second laser receiver receives the signal sent by the third laser transmitter, and at the moment, indicating that the axis vehicle is completely positioned in the final axis vehicle pose area at the moment, and stopping running of the axis vehicle.

Description

Sensor-based axis vehicle accurate pose adjustment method Technical Field The invention relates to the field of axis vehicle pose adjustment, in particular to a sensor-based axis vehicle accurate pose adjustment method. Background In the process of building the ocean engineering platform, the transportation of the large-scale structural device is required to be realized through an axis vehicle, and after the large-scale structural object is installed, the large-scale structural object is lifted through a hydraulic system, so that the large-scale structural object can be smoothly loaded on the axis vehicle. The hydraulic support points for jacking the large-sized structure are generally located at four corner points of the large-sized structure, the hydraulic support points are used for placing hydraulic cylinders, the gravity centers of the large-sized structures loaded on the axis car 5 are balanced, the hydraulic mechanisms are arranged outside the axis car, and the requirements on the pose of the axis car are relatively high in the process of driving the axis car into the given point due to the limitation of the hydraulic jacking points and the complexity of the large-sized structure. The pose correction of the existing axial vehicle loading process is usually carried out through manual visual recognition, personal experiences of axial vehicle drivers are relied on, and the pose correction has larger error for the pose adjustment, so that the requirement of pose correction with high precision requirement is difficult to meet. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides a sensor-based accurate position and posture adjustment method of an axis vehicle, the method can detect the axial parking position and the deviation degree of the axial parking position are used for guiding an axial vehicle driver to drive and load correctly and reasonably. In order to achieve the above purpose, the invention adopts the following technical scheme: the invention discloses a sensor-based accurate position and orientation adjustment method for an axis vehicle, which comprises the following steps: firstly, dividing a final axis parking position and pose adjusting region of an axis vehicle in a loading site before calculating the axis parking position and pose, wherein the final axis parking position and pose region refers to a region for loading large-scale structures, and the pose adjusting region refers to a region for adjusting the pose of the axis vehicle to a set pose before the axis enters the final axis parking position and pose region; Secondly, according to the size of the axis vehicle and the actual situation of the site, a final posture change range of the axis vehicle is selected, and when the posture of the axis vehicle is in the final posture change range, the posture is regarded as the final posture; The system comprises an axis vehicle, a loading construction site, a position detection device, a state feedback device, a position adjustment device and a position adjustment device, wherein the position detection device is used for detecting the position of the axis vehicle, the position of the axis vehicle is detected by the position detection device, the position detection device is used for detecting the position of the axis vehicle, and the position of the axis vehicle is detected by the position detection device; Finally, a coordinate system for pose calculation is established on a loading construction site, the positions of the ultrasonic transmitters in the coordinate system are calibrated, and meanwhile, the related geometric parameters between the first ultrasonic transmitter and each laser transmitter are measured and recorded, so that basic data are provided for the subsequent calculation of the axial pose; step two, calculating the current position coordinates and the central line deflection angle of the axis car and the first vertical distance deflection value between the left corner point of the axis car and the left line of the final axis car pose area and the second vertical distance deflection value between the right corner point of the axis car and the right line of the final axis car pose area in real time by acquiring distance data between an ultrasonic transmitter arranged on a loading site and a receiver arranged on the axis car, and feeding back pose parameters to a driver in real time to guide the driver to finish accurate pose adjustment; Judging whether the first laser receiver can receive the laser signal sent by the first laser emitter or not, and judging whether the second laser receiver can receive the laser signal sent by the second laser emitter or not, if so, considering that the posture of the axis car is in a final posture without adjustment, and executing the fourth step; Otherwise, the center line deflection angle, the first vertical distance deviation value and the second vertical distance deviation value are fed back to a dri