CN-122015842-A - Multi-sensor fusion-based shipbuilding segmented positioning management system and method

CN122015842ACN 122015842 ACN122015842 ACN 122015842ACN-122015842-A

Abstract

The application discloses a shipbuilding subsection positioning management system and method based on multi-sensor fusion, and relates to the technical field of positioning management, wherein the system comprises the steps of acquiring real-time state data of a plurality of mobile units, and calculating and generating a motion trail envelope of a future preset time period corresponding to each mobile unit based on the real-time state data of each mobile unit; the method comprises the steps of calculating predicted space-time relation data between any two mobile units based on motion trail envelopes of all the mobile units, judging whether potential interference risks exist or not based on comparison results of the predicted space-time relation data and a preset safety threshold value, and generating collaborative scheduling suggestion data for adjusting motion states of at least one mobile unit to eliminate the potential interference risks based on a preset scheduling optimization rule when the potential interference risks exist. The application has the effect of improving the positioning management efficiency of the shipbuilding subsection.

Inventors

LI RUIBO
LI JUNLIN
WANG YIFENG
WANG PENG
MEI YAOHUI
ZHANG JIAN
SUN LIANG
XU XINGHUA
ZHANG JUN
WANG ZHENGYANG

Assignees

中远海运重工有限公司

Dates

Publication Date: 20260512
Application Date: 20260112

Claims (10)

1. A shipbuilding subsection positioning management method based on multi-sensor fusion is characterized by comprising the following steps: Acquiring real-time state data of a plurality of mobile units, wherein the real-time state data at least comprise three-dimensional coordinates of a subsection and a lifting hook, a speed vector and mechanical motion parameters of a crane; Calculating and generating a motion trail envelope of a future preset time period corresponding to each mobile unit based on the real-time state data of each mobile unit, wherein the motion trail envelope is used for representing a space range which the corresponding mobile unit possibly occupies in the future preset time period; Calculating predicted space-time relation data between any two mobile units based on the motion trail envelopes of all the mobile units, wherein the predicted space-time relation data at least comprises a predicted minimum space distance and predicted interference occurrence time; Judging whether potential interference risks exist or not based on a comparison result of the predicted space-time relationship data and a preset safety threshold value; When the potential interference risk is judged to exist, collaborative scheduling suggestion data for adjusting the motion state of at least one mobile unit to eliminate the potential interference risk is generated based on a preset scheduling optimization rule.
2. The method for positioning management of a shipbuilding segment based on multi-sensor fusion of claim 1, wherein calculating and generating a motion trail envelope for a future preset time period corresponding to each mobile unit based on real-time status data of each mobile unit comprises: establishing a real-time kinematic model for each mobile unit based on the real-time status data of the plurality of mobile units; predicting a core motion path of the mobile unit within the future preset time period based on the real-time kinematic model; Calculating a location uncertainty region around a core motion path based on physical dimension data of the mobile unit, a magnitude of a velocity vector, and a preset error margin; And carrying out fusion processing on the core motion path and the position uncertainty area to generate a motion trail envelope.
3. The method of claim 1, wherein generating collaborative schedule advice data for adjusting a motion state of at least one mobile unit to eliminate potential interference risk based on a preset schedule optimization rule comprises: Generating at least one candidate adjustment scheme, the candidate adjustment scheme comprising motion control instructions for at least one target mobile unit; Calculating the total delay cost corresponding to each candidate adjustment scheme, wherein the total delay cost is obtained by carrying out weighted summation on the delay time of each task caused by executing the candidate adjustment scheme based on the priority of the job task associated with each mobile unit; selecting the candidate adjustment scheme with the minimum overall delay cost as an optimal scheduling scheme; and converting the optimal scheduling scheme into a specific operation instruction to generate collaborative scheduling suggestion data.
4. The method for positioning and managing a shipbuilding segment based on multi-sensor fusion of claim 1, wherein obtaining real-time status data of a plurality of mobile units comprises: acquiring first three-dimensional coordinate data of a section carrying a UWB tag and a lifting hook through an ultra-wideband UWB positioning system; Acquiring second three-dimensional coordinate data of the lifting hook and the mechanical motion parameters through a Programmable Logic Controller (PLC) of the crane; And carrying out data fusion and verification processing on the first three-dimensional coordinate data and the second three-dimensional coordinate data to obtain a three-dimensional coordinate after verification as a three-dimensional coordinate in the real-time state data.
5. The method for positioning and managing shipbuilding segments based on multi-sensor fusion according to claim 1, further comprising: acquiring global dynamic point cloud data of an operation area through laser radar scanning; identifying and extracting contour information of a moving object based on the global dynamic point cloud data; and cross-verifying the profile information with mobile unit location information determined based on the real-time status data.
6. The method for positioning and managing shipbuilding segments based on multi-sensor fusion according to claim 1, wherein the step of judging whether potential interference risks exist comprises the following steps: if the predicted minimum spatial distance is smaller than a first preset distance threshold, judging that high-risk interference exists; And if the predicted interference occurrence time is smaller than a preset time threshold value, judging that an emergency interference condition exists.
7. The method for positioning and managing shipbuilding segments based on multi-sensor fusion according to claim 1, further comprising: recording a potential interference risk judgment result, generated cooperative scheduling suggestion data and corresponding actual execution effect data in the historical operation process; and based on the historical record data, carrying out self-adaptive optimization adjustment on the preset safety threshold and the calculation parameters in the dispatching optimization rule.
8. The method for positioning and managing shipbuilding segments based on multi-sensor fusion according to claim 1, wherein the adaptive optimization adjustment is performed based on the history data, and the method comprises the following steps: analyzing the actual interference avoidance effect and the change of the working efficiency after the collaborative scheduling suggestion data is adopted and executed; and reversely optimizing task priority weight coefficients for calculating the total delay cost in the scheduling optimization rule according to the analysis result.
9. A multi-sensor fusion-based shipbuilding segment positioning management system, which is applied to the shipbuilding segment positioning management method based on any one of the above claims 1-8, and is characterized by comprising the following steps: The data acquisition module is used for acquiring real-time state data of a plurality of mobile units, wherein the real-time state data at least comprise three-dimensional coordinates of a subsection and a lifting hook, a speed vector and mechanical motion parameters of a crane; The system comprises a motion trail generation module, a motion trail generation module and a motion trail generation module, wherein the motion trail generation module is used for calculating and generating a motion trail envelope of a future preset time period corresponding to each mobile unit based on real-time state data of each mobile unit, and the motion trail envelope is used for representing a space range which the corresponding mobile unit possibly occupies in the future preset time period; The prediction module is used for calculating prediction space-time relation data between any two mobile units based on the motion trail envelopes of all the mobile units, wherein the prediction space-time relation data at least comprises a prediction minimum space distance and a prediction interference occurrence time; The comparison judging module is used for judging whether potential interference risks exist or not based on the comparison result of the predicted space-time relationship data and a preset safety threshold value; And the scheduling management module is used for generating cooperative scheduling suggestion data for adjusting the motion state of at least one mobile unit to eliminate the potential interference risk based on a preset scheduling optimization rule when the potential interference risk is judged to exist.
10. A computer readable storage medium storing instructions which, when executed on a computer, cause the computer to perform a method of positioning and managing shipbuilding segments based on multisensor fusion according to any one of claims 1 to 8.

Description

Multi-sensor fusion-based shipbuilding segmented positioning management system and method Technical Field The application relates to the technical field of positioning management, in particular to a shipbuilding segmented positioning management system and method based on multi-sensor fusion. Background In the large-scale ship building process, the total assembly and closure of the segments are key and complex links, and the efficiency and safety of positioning management directly influence the overall building progress and quality. The traditional shipbuilding subsection positioning management method mainly relies on personal experience of operators and single-point measurement technology to coordinate and judge, has a plurality of inherent defects, and is difficult to adapt to the high-efficiency cooperative requirements of multi-task and multi-equipment parallel operation in modern dock. The prior art generally adopts discrete measurement means to confirm the position of a single segment afterwards, for example, periodic manual measurement and point reporting are performed through equipment such as a total station. The data acquired by the method are static and isolated, and continuous sensing and fusion of real-time motion states of the segmentation and hoisting equipment are lacking. The position relation among the mobile units (segments and hooks) depends on the on-site commander to estimate and orally coordinate based on limited information, delay and error exist in information transfer, and a global and dynamically updated operation situation map cannot be constructed. Therefore, under the complex scene that a plurality of subsection synchronous hoisting or moving paths are intersected, the potential space-time interference risk is difficult to accurately judge in advance, the dangerous situation is often found by means of manual visual observation when the physical distance is close, the reaction is rapid, and the safety is highly dependent on the concentration degree and experience of personnel. Further, even though continuous tracking of the location is achieved by installing part of the sensors, existing management methods only stay at the level of monitoring and alarming of the occurred state. The system usually gives a general alarm when detecting that the distance is too close, but cannot predict the trend of motion conflict in the next seconds, and cannot provide specific operation guidance for resolving the conflict. In the face of alarming, the on-site commander still needs to make a temporary decision on the adjustment scheme by experience, the decision process is long in time consumption, and the priority and the overall progress of all parallel operation tasks are difficult to comprehensively consider, so that the situation that each other is considered easily is easy to cause, or an excessively conservative strategy is adopted to lose the operation efficiency. The whole management process is in a passive response state, and the capability of active prediction and intelligent scheduling from the global view is lacking. Aiming at the problems, a shipbuilding segmented positioning management method capable of deeply fusing multi-source real-time data, realizing motion track prediction of a mobile unit and actively generating a cooperative scheduling instruction based on a global efficiency optimization principle is needed in the field so as to fundamentally improve the safety, efficiency and intelligent level of multi-crane cooperative operation. Disclosure of Invention Aiming at the defects of the prior art, the application provides a shipbuilding subsection positioning management system and method based on multi-sensor fusion. In a first aspect, the application provides a shipbuilding segment positioning management method based on multi-sensor fusion, which comprises the following steps: Acquiring real-time state data of a plurality of mobile units, wherein the real-time state data at least comprise three-dimensional coordinates of a subsection and a lifting hook, a speed vector and mechanical motion parameters of a crane; Calculating and generating a motion trail envelope of a future preset time period corresponding to each mobile unit based on the real-time state data of each mobile unit, wherein the motion trail envelope is used for representing a space range which the corresponding mobile unit possibly occupies in the future preset time period; Calculating predicted space-time relation data between any two mobile units based on the motion trail envelopes of all the mobile units, wherein the predicted space-time relation data at least comprises a predicted minimum space distance and predicted interference occurrence time; Judging whether potential interference risks exist or not based on a comparison result of the predicted space-time relationship data and a preset safety threshold value; When the potential interference risk is judged to exist, collaborative scheduling suggestion data