A Visual Localization and Navigation Method for Self-Advancing Supports Based on a Non-Repeated Support System

Abstract

The present application provides a visual positioning and navigation method and device for a self - moving support and a non - repeated support system. Among them, the method includes: identifying the self - moving support code corresponding to the coded picture of the self - moving support to determine the self - moving support to be moved; determining the first position of the handling device according to the central position of the self - moving support to be moved; moving the handling device to the first position to grasp the self - moving support to be moved; the handling device performs a reciprocating translational motion on the track and real - time detects the current position of the handling device; in response to the current position of the handling device being the first target position of the self - moving support to be moved, moving the self - moving support to be moved to the first target position. Based on the visual navigation and positioning technology of the non - repeated support system, the present application can efficiently and accurately handle the self - moving support.

Description

Technical Field

[0001] This application relates to the technical field of underground support in coal mines, and particularly to a visual positioning and navigation method, device, and non-repeated support system for self-propelled supports based on a non-repeated support system. Background Art

[0002] According to the regulations of the Coal Mine Safety Regulations, effective advanced support is required in the gateways of fully mechanized coal mining faces. During the self-propelling process of the supports, it is necessary to position and navigate the transportation route of the supports to ensure that the positions of all moved supports are accurate and meet the requirements. Therefore, how to efficiently and accurately transport the supports has become an urgent problem to be solved. Summary of the Invention

[0003] This application provides a visual positioning and navigation method, device, and non-repeated support system for self-propelled supports based on a non-repeated support system to achieve efficient and accurate handling of self-propelled supports.

[0004] The first aspect of the embodiments of this application proposes a visual positioning and navigation method for self-propelled supports based on a non-repeated support system, including:

[0005] Identifying the self-propelled support code corresponding to the coded picture of the self-propelled support to determine the self-propelled support to be moved;

[0006] Determining the first position of the handling device according to the central position of the self-propelled support to be moved;

[0007] Moving the handling device to the first position and grasping the self-propelled support to be moved;

[0008] The handling device performs a reciprocating translational motion on the track and continuously detects the current position of the handling device;

[0009] In response to the current position of the handling device being the first target position of the self-propelled support to be moved, moving the self-propelled support to be moved to the first target position.

[0010] The second aspect of the embodiments of this application proposes a visual positioning and navigation device for self-propelled supports based on a non-repeated support system, including:

[0011] An identification module, configured to identify the self-propelled support code corresponding to the coded picture of the self-propelled support to determine the self-propelled support to be moved;

[0012] A first determination module, configured to determine the first position of the handling device according to the central position of the self-propelled support to be moved;

[0013] A grasping module, configured to grasp the self-propelled support to be moved in response to the current position of the handling device being the first position.

[0014] A detection module, configured to detect the current position of the handling device;

[0015] A transportation module, in response to the current position of the handling device being the first target position of the self - moving support to be moved, transports the self - moving support to be moved to the first target position.

[0016] An embodiment of the third aspect of the present application provides a non - repeated support system, including:

[0017] A plurality of self - moving supports arranged in the roadway transportation headgate;

[0018] A decision - making subsystem, configured to provide the code of the self - moving support to be moved and the first target position of the self - moving support to be moved;

[0019] An execution subsystem, the execution subsystem includes tracks, a handling device, and a traction power component; the execution subsystem is configured to drive the handling device to move on the tracks through the traction power component;

[0020] A visual positioning and navigation subsystem, the visual positioning and navigation subsystem includes: a camera with edge - computing function, the camera is arranged above the top beam of the handling device and the lens faces upward; wherein, the visual positioning and navigation subsystem is configured to identify the code of the self - moving support corresponding to the encoded picture of the self - moving support;

[0021] A communication subsystem, configured to implement communication between the visual positioning and navigation subsystem, the decision - making subsystem, and the execution subsystem;

[0022] Wherein, the visual positioning and navigation subsystem is further configured to determine the self - moving support to be moved among the self - moving supports according to the code of the self - moving support to be moved, identify the central position of the self - moving support to be moved, and determine the first position of the handling device;

[0023] The execution subsystem is further configured to drive the handling device to move to the first position and grasp the self - moving support to be moved;

[0024] The visual positioning and navigation subsystem is further configured to detect the current position of the handling device in real - time;

[0025] The execution subsystem is further configured to, in response to the current position of the handling device being the first target position of the self - moving support to be moved, transport the self - moving support to be moved to the first target position.

[0026] The technical solution provided by the embodiments of the present application may include the following beneficial effects: By using a camera with edge computing function in the non-repeated support system to identify the encoded pictures of the self-propelled support, the self-propelled support to be moved is determined. The camera also detects the central position of the self-propelled support to be moved, and calculates the grasping position of the handling device. During the process of handling the self-propelled support to be moved, the position of the handling device is detected in real time, so that the handling device accurately transports the self-propelled support to be moved to the first target position. Based on the visual navigation and positioning technology of the non-repeated support system, the present application can efficiently and accurately handle the self-propelled support.

[0027] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, in which:

[0029] Figure 1 is a schematic structural diagram of a non-repeated support system provided by an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the non-repeated support system provided by an embodiment of the present application;

[0031] Figure 3 is a schematic flowchart of a visual positioning and navigation method for a self-propelled support based on a non-repeated support system provided by an embodiment of the present application;

[0032] Figure 4 is a schematic flowchart of another visual positioning and navigation method for a self-propelled support based on a non-repeated support system provided by an embodiment of the present application;

[0033] Figure 5 is a schematic structural diagram of a visual positioning and navigation device for a self-propelled support based on a non-repeated support system provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation of the present application.

[0035] The visual positioning and navigation method, device and non-repeated support system of the embodiments of the present application based on the non-repeated support system will be described below with reference to the drawings.

[0036] Figure 1 The following is a schematic structural diagram of a non-repeated support system provided by an embodiment of the present application. As Figure 1 shown, the non-repeated support system includes: a plurality of self-moving supports 101, a decision-making subsystem 102, an execution subsystem 103, a visual positioning and navigation subsystem 104, and a communication subsystem 105.

[0037] Among them, a plurality of self-moving supports 101 are arranged in the roadway transportation headgate.

[0038] The decision-making subsystem 102 is used to provide the code of the self-moving support to be moved and the first target position of the self-moving support to be moved.

[0039] The execution subsystem 103 includes a track 106, a handling device 107, and a traction power component 108. The execution subsystem 103 is used to drive the handling device 107 to move on the track 106 through the traction power component 108.

[0040] The visual positioning and navigation subsystem 104 includes: a camera 109 with edge computing function. The camera 109 is arranged above the top beam of the handling device 107, and the lens faces upward. Among them, the visual positioning and navigation subsystem 104 is used to identify the code of the self-moving support corresponding to the coded picture of the self-moving support.

[0041] The communication subsystem 105 is used to realize communication between the decision-making subsystem 102, the execution subsystem 103, and the visual positioning and navigation subsystem 104.

[0042] Among them, the visual positioning and navigation subsystem 104 is further used to determine the self-moving support to be moved among the self-moving supports according to the code of the self-moving support to be moved, identify the central position of the self-moving support to be moved, and determine the first position of the handling device 107.

[0043] The execution subsystem 103 is further used to drive the handling device 107 to move to the first position and grab the self-moving support to be moved.

[0044] The visual positioning and navigation subsystem 104 is further used to detect the current position of the handling device 107 in real time.

[0045] The execution subsystem 103 is further used to respond that when the current position of the handling device 107 is the first target position of the self-moving support to be moved, move the self-moving support to be moved to the first target position.

[0046] For a better understanding of the non-repeated support system proposed by the embodiment of the present application, reference can be made to Figure 2 the schematic diagram shown.

[0047] In addition, regarding the non-repeated support system in the above embodiments, the specific ways in which each component and subsystem perform operations will be described in detail in the subsequent embodiments regarding the visual positioning and navigation method of the self-propelled support based on the non-repeated support system, and will not be elaborated here in detail.

[0048] According to the non-repeated support system of the embodiments of the present application, the visual positioning and navigation subsystem includes a camera with edge computing capabilities. Based on the visual positioning and navigation subsystem, the self-propelled support can be transported efficiently and accurately.

[0049] Figure 3 It is a schematic flowchart of a visual positioning and navigation method for a self-propelled support based on a non-repeated support system provided by the embodiments of the present application. As Figure 3 shown, the visual positioning and navigation method for the self-propelled support based on the non-repeated support system may include the following steps:

[0050] Step 301, identify the self-propelled support code corresponding to the coded picture of the self-propelled support, and determine the self-propelled support to be moved.

[0051] Among them, the self-propelled support may be a unitary advanced hydraulic support, or other self-propelled supports, and the present application does not make specific limitations thereto.

[0052] It should be noted that coded pictures representing the support code information of each support are pasted at the same position on the lower surface of the top beam of the self-propelled support. The coded picture of the self-propelled support may be in the form of a barcode, a two-dimensional code, or other custom coding forms, and the present application does not make specific limitations thereto.

[0053] On the handling device in the non-repeated support system of the embodiments of the present application, a camera with edge computing capabilities is provided. The lens of the camera faces upward and can move along with the handling device on the track to collect image information. The coded picture of the self-propelled support in the collected image information is identified by the camera with edge computing capabilities to determine the self-propelled support code corresponding to the coded picture of the self-propelled support.

[0054] It should also be noted that the decision-making subsystem in the non-repeated support system provides the code of the self-propelled support to be moved. Based on the code of the self-propelled support to be moved, the self-propelled support to be moved is determined among the self-propelled supports.

[0055] Step 302, determine the first position of the handling device according to the central position of the self-propelled support to be moved.

[0056] As a possible implementation, a camera with edge computing capabilities can be used to detect the central position of the self - propelled support to be moved based on the encoded picture of the self - propelled support to be moved. That is, the position of the encoded picture is recognized by the camera, and the central position of the self - propelled support to be moved is determined according to the relationship between the posting position of the encoded picture and the central position of the self - propelled support.

[0057] Optionally, in some embodiments of the present application, in order to facilitate determining the central position of the self - propelled support to be moved, the encoded picture of the self - propelled support can be pasted at the central position on the lower surface of the top beam of the self - propelled support. Thus, the central position of the self - propelled support to be moved is determined by recognizing the position of the encoded picture of the self - propelled support to be moved.

[0058] As an example, the camera can obtain the current position of the handling device based on the central position of the self - propelled support to be moved (the current position of the handling device is the relative position between the handling device and the central position of the self - propelled support to be moved). Calculate the second position deviation value between the current position of the handling device and the central position of the self - propelled support to be moved, thereby determining the first position of the handling device. Among them, the first position of the handling device can be understood as the position where the handling device can accurately grasp the self - propelled support to be moved.

[0059] Step 303: Move the handling device to the first position and grasp the self - propelled support to be moved.

[0060] The camera transmits the second position deviation value to the execution subsystem through the communication subsystem of the non - repeated support system. The execution subsystem controls the handling device to move to the first position according to the second position deviation and grasps the self - propelled support to be moved.

[0061] It should be noted that the grasping of the self - propelled support to be moved described in the embodiments of the present application includes, but is not limited to, operations such as grasping, lifting, and rotating the self - propelled support to be moved. The present application does not make specific limitations on this.

[0062] Step 304: The handling device performs a reciprocating translational motion on the track and continuously detects its current position.

[0063] Optionally, in some embodiments of the present application, during the process of the handling device transporting the self - propelled support to be moved, the position of the handling device can be determined by recognizing the encoded picture of the non - moved self - propelled support. For example, the current position of the handling device is a certain distance in front of a certain self - propelled support.

[0064] Step 305: In response to the current position of the handling device being the first target position of the self - propelled support to be moved, transport the self - propelled support to be moved to the first target position.

[0065] It should be noted that the decision-making subsystem in the non-repeated support system provides the code of the self-propelled support to be moved and the first target position corresponding to the self-propelled support to be moved. When the handling device moves to the first target position of the self-propelled support to be moved, the self-propelled support to be moved is transported to the first target position. That is to say, the handling device jacks up the self-propelled support to be moved at the first target position, so as to realize the support for the roadway roof.

[0066] According to the self-propelled support visual positioning and navigation method based on the non-repeated support system in the embodiment of the present application, the code picture of the self-propelled support is recognized by the camera with edge computing function in the non-repeated support system to determine the self-propelled support to be moved. The camera also detects the central position of the self-propelled support to be moved and calculates the grasping position of the handling device. During the process of handling the self-propelled support to be moved, the position of the handling device is detected in real time, so that the handling device accurately transports the self-propelled support to be moved to the first target position. The visual navigation and positioning technology based on the non-repeated support system in the present application can efficiently and accurately transport the self-propelled support.

[0067] It should be noted that in the actual scenario, anchor bolts and cable bolts are provided at the roadway roof position. Therefore, in order to avoid the support roof beam damaging the anchor bolts during the process of handling the self-propelled support, the position of the anchor bolts on the roadway roof can be detected, and the first target position of the self-propelled support to be moved can be corrected, so as to avoid the anchor bolts on the roadway roof and realize the safe roof contact of the self-propelled support to be moved. Figure 4 The flow chart of another self-propelled support visual positioning and navigation method based on the non-repeated support system provided by the embodiment of the present application is as follows. As Figure 4 shown, the self-propelled support visual positioning and navigation method based on the non-repeated support system may include the following steps:

[0068] Step 401: Identify the self-propelled support code corresponding to the code picture of the self-propelled support to determine the self-propelled support to be moved.

[0069] Step 402: Determine the first position of the handling device according to the central position of the self-propelled support to be moved.

[0070] Step 403: Move the handling device to the first position and grasp the self-propelled support to be moved.

[0071] Step 404: The handling device makes a reciprocating translational motion on the track and detects the current position of the handling device in real time.

[0072] Step 405: In response to the current position of the handling device being the first target position of the self-propelled support to be moved, detect the position of the anchor bolts on the roadway roof above the handling device.

[0073] It should be noted that when the current position of the handling device is the first target position of the self - moving support to be moved, the bolt positions on the roadway roof above the handling device are detected by the camera on the handling device.

[0074] Step 406: Based on the first target position of the self - moving support to be moved and the bolt positions, obtain the second target position of the self - moving support to be moved.

[0075] That is to say, if there is a partial overlap between the first target position of the self - moving support to be moved and the bolt positions on the roadway roof, in order to achieve safe roof contact of the self - moving support to be moved, the target position of the self - moving support to be moved needs to avoid the bolts on the roadway roof. In some embodiments of the present application, the safe area for the self - moving support to be moved to safely contact the roof can be calculated based on the first target position of the self - moving support to be moved and the bolt positions, and the central position of this safe area can be used as the second target position of the self - moving support to be moved.

[0076] Step 407: Move the self - moving support to be moved to the second target position.

[0077] As a possible implementation manner, the central position of the self - moving support to be moved can be determined. According to the central position of the self - moving support to be moved and the second target position, calculate the first position deviation value between the central position of the self - moving support to be moved and the second target position. The camera transmits this first position deviation value to the execution subsystem through the communication subsystem of the non - repeated support system. The execution subsystem controls the handling device to move to the second target position according to the first position deviation, and moves the self - moving support to be moved to the second target position.

[0078] It should be noted that in the embodiments of the present application, steps 401 - 404 can be implemented in any of the ways in the respective embodiments of the present application. The present application does not make any limitations in this regard and will not elaborate further.

[0079] To better understand the self - moving support visual positioning and navigation method based on the non - repeated support system provided in the embodiments of the present application, the following will be combined with Figure 2 be described. As Figure 2As shown, the decision-making subsystem gives the code of the self-advancing support 1 to be moved and the first target position corresponding to the self-advancing support 1 to be moved, and this first target position is behind the self-advancing support 4. The camera moves back and forth horizontally on the track along with the handling device. By identifying the coded picture on the lower surface of the canopy of the self-advancing support, the self-advancing support 1 to be moved is determined. The camera detects the central position of the self-advancing support 1 to be moved, and determines the first position of the handling device (i.e., directly below the self-advancing support 1 to be moved) by calculating the second position deviation value between the current position of the handling device and the central position of the self-advancing support 1 to be moved. The execution subsystem controls the handling device to move to the first position according to the second position deviation and grabs the self-advancing support 1 to be moved. After the handling device grabs the self-advancing support 1 to be moved, it continues to move back and forth horizontally on the track. The camera continuously identifies the unmoved self-advancing supports to determine the current position of the handling device (for example, the camera acquires the coded image information of the self-advancing supports 2 and 3, and obtains that the handling device is currently at a certain position between the self-advancing supports 2 and 3 by determining the central positions of the self-advancing supports 2 and 3). When the camera detects that the current position of the handling device is the first target position of the self-advancing support 1 to be moved, it detects the bolt position on the roof of the roadway above the handling device. If there is partial overlap between the first target position of the self-advancing support 1 to be moved and the bolt position on the roof of the roadway, based on the first target position of the self-advancing support 1 to be moved and the bolt position, a safe area for the self-advancing support 1 to be moved to safely contact the roof is calculated, and the central position of this safe area can be used as the second target position of the self-advancing support 1 to be moved. Calculate the first position deviation value between the central position of the self-advancing support 1 to be moved and the second target position. The camera transmits this first position deviation value to the execution subsystem through the communication subsystem of the non-repeated support system. The execution subsystem controls the handling device to move to the second target position according to the first position deviation, and transports the self-advancing support 1 to be moved to the second target position, so as to realize the safe roof contact of the self-advancing support 1 to be moved.

[0080] According to the self-advancing support visual positioning and navigation method based on the non-repeated support system in the embodiment of the present application, the coded picture of the self-advancing support is identified by the camera with edge computing function in the non-repeated support system to determine the self-advancing support to be moved. The camera also detects the central position of the self-advancing support to be moved and calculates the grasping position of the handling device. During the process of handling the self-advancing support to be moved, the position of the handling device is continuously detected. When the handling device moves to the first target position, the bolt position on the roof of the roadway is detected, and the first target position of the self-advancing support to be moved is corrected, so as to avoid the bolts on the roof of the roadway and realize the safe roof contact of the self-advancing support to be moved, further improving the accuracy of handling the self-advancing support.

[0081] To implement the above embodiments, the present application further provides a visual positioning and navigation device for a self-propelled support based on a non-repetitive support system. Figure 5 The following is a schematic structural diagram of a visual positioning and navigation device for a self-propelled support based on a non-repetitive support system provided in an embodiment of the present application. As Figure 5 shown, the visual positioning and navigation device for the self-propelled support includes: an identification module 501, a first determination module 502, a grasping module 503, a detection module 504, and a transportation module 505.

[0082] Among them, the identification module 501 is used to identify the self-propelled support code corresponding to the coded picture of the self-propelled support and determine the self-propelled support to be moved.

[0083] The first determination module 502 is used to determine the first position of the handling device according to the central position of the self-propelled support to be moved.

[0084] The grasping module 503 is configured to grasp the self-propelled support to be moved in response to the current position of the handling device being the first position.

[0085] The detection module 504 is used to detect the current position of the handling device.

[0086] The transportation module 505 is configured to transport the self-propelled support to be moved to the first target position in response to the current position of the handling device being the first target position of the self-propelled support to be moved.

[0087] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0088] According to the visual positioning and navigation device for a self-propelled support based on a non-repetitive support system in an embodiment of the present application, the coded picture of the self-propelled support is recognized by a camera with edge computing function in the non-repetitive support system to determine the self-propelled support to be moved. The camera also detects the central position of the self-propelled support to be moved and calculates the grasping position of the handling device. During the process of handling the self-propelled support to be moved, the position of the handling device is detected in real time, so that the handling device accurately transports the self-propelled support to be moved to the first target position. The visual navigation and positioning technology based on the non-repetitive support system in the present application can efficiently and accurately transport the self-propelled support.

[0089] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0090] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0091] Any process or method description depicted in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application pertain.

[0092] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0093] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0094] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0095] In addition, each functional unit in various embodiments of the present application may be integrated into a processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0096] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

[0097] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

Claims

1. A visual positioning and navigation method for a self - moving support based on a non - repeated support system, characterized in that Including the following steps: Identifying the self - propelled support code corresponding to the coded picture of the self - propelled support through a camera with edge - computing function, and determining the self - propelled support to be moved; Based on the coded picture of the self - propelled support to be moved, determining the central position of the self - propelled support to be moved; According to the central position of the self - propelled support to be moved, determining the first position of the handling device; Moving the handling device to the first position and grasping the self - propelled support to be moved; The handling device performs a reciprocating translational motion on the track and real - time detects the current position of the handling device; In response to the current position of the handling device being the first target position of the self - propelled support to be moved, detecting the bolt position on the roadway roof above the handling device; Based on the first target position of the self - propelled support to be moved and the bolt position, calculating a safety area where the self - propelled support to be moved can safely reach the roof, and taking the central position of the safety area as the second target position of the self - propelled support to be moved; Moving the self - propelled support to be moved to the second target position; Wherein, the real - time detecting the current position of the handling device includes: determining the current position of the handling device by identifying the coded picture of the unmoved self - propelled support.

2. The method according to claim 1, characterized in that, The first target position of the self - propelled support to be moved is the first target position of the self - propelled support to be moved provided by the decision - making subsystem in the non - repeated support system.

3. The method according to claim 1, wherein The coded picture of the self - propelled support is located at the central position of the lower surface of the top beam of the self - propelled support.

4. The method according to claim 1, wherein The determining the first position of the handling device according to the central position of the self - propelled support to be moved includes: Determining the central position of the self - propelled support to be moved and obtaining the current position of the handling device; According to the current position of the handling device and the central position of the self - propelled support to be moved, determining the first position of the handling device.

5. The method according to claim 1, wherein The moving the self - propelled support to be moved to the second target position includes: Determining the central position of the self - propelled support to be moved; According to the central position of the self - propelled support to be moved and the second target position, obtaining the first position deviation value between the central position of the self - propelled support to be moved and the second target position; According to the first position deviation value, moving the self - propelled support to be moved to the second target position.

6. A visual positioning and navigation device for a self-advancing support based on a non-repeated support system, characterized in that, For implementing the method according to any one of claims 1 - 5, including: An identification module, configured to identify the self - propelled support code corresponding to the coded picture of the self - propelled support and determine the self - propelled support to be moved; A first determination module, configured to determine the first position of the handling device according to the central position of the self - propelled support to be moved; A grasping module, which, in response to the current position of the handling device being the first position, grasps the self - propelled support to be moved; A detection module, configured to detect the current position of the handling device; A transportation module, which, in response to the current position of the handling device being the first target position of the self - propelled support to be moved, transports the self - propelled support to be moved to the first target position.

7. A non-repeated support system, characterized in that, Including: Multiple self - moving supports, arranged in the roadway transportation gateway; A decision - making subsystem, configured to provide the code of the self - moving support to be moved and the first target position of the self - moving support to be moved; An execution subsystem, the execution subsystem including rails, handling equipment, and traction power components; The execution subsystem is configured to drive the handling equipment to move on the rails through the traction power components; A visual positioning and navigation subsystem, the visual positioning and navigation subsystem including: a camera with edge - computing function, the camera being disposed above the top beam of the handling equipment and having an upward - facing lens; wherein, the visual positioning and navigation subsystem is configured to identify the code of the self - moving support corresponding to the coded picture of the self - moving support; A communication subsystem, configured to enable communication between the visual positioning and navigation subsystem, the decision - making subsystem, and the execution subsystem; Among them, the visual positioning and navigation subsystem is further configured to determine the self - moving support to be moved among the self - moving supports according to the code of the self - moving support to be moved, identify the central position of the self - moving support to be moved, and determine the first position of the handling equipment; The execution subsystem is further configured to drive the handling equipment to move to the first position and grasp the self - moving support to be moved; The visual positioning and navigation subsystem is further configured to detect the current position of the handling equipment in real time; The execution subsystem is further configured to, in response to the current position of the handling equipment being the first target position of the self - moving support to be moved, detect the position of the anchor bolt on the roof of the roadway above the handling equipment; calculate a safe area for the self - moving support to be moved to safely contact the roof based on the first target position of the self - moving support to be moved and the position of the anchor bolt, and use the central position of the safe area as the second target position of the self - moving support to be moved; transport the self - moving support to be moved to the second target position; The visual positioning and navigation subsystem is specifically configured to: determine the current position of the handling equipment by identifying the coded pictures of the unmoved self - moving supports.

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