A coordinate optimization method and system for a transport vehicle in a shipbuilding enterprise production area

Abstract

The application discloses a kind of coordinate optimization method and system of ship enterprise production area transport vehicle, obtain the real-time latitude and longitude information, direction information and running state of transport vehicle;Establish the plane map rectangular coordinate system of the production operation area plane map, and select several feature coordinate points, form comparison sample set from the several feature coordinate points;The real-time latitude and longitude information is converted into coordinate system, corresponding plane coordinate point in the earth plane coordinate system is obtained, and forms training sample set;Establish the coordinate conversion target function of the comparison sample set and the training sample set;Ant lion optimization algorithm is used to optimize the coordinate conversion target function and solve, obtain the positioning coordinate point of the real-time latitude and longitude information;According to the positioning coordinate point, the real-time position of the transport vehicle is obtained according to the direction information and running state.Optimizes map conversion error, improves the accuracy of map conversion, and then improves vehicle monitoring efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of map coordinate optimization, in particular to a coordinate optimization method and system for transport vehicles in the production area of a shipbuilding enterprise. BACKGROUND

[0002] With the continuous development of China's national economy and national defense forces, shipbuilding technology is transforming towards high efficiency and intelligence. At present, the intelligent manufacturing development of domestic ship assembly plants is still in the exploratory stage, and there is a large gap with the advanced level abroad.

[0003] The production area of a ship assembly plant involves a large number of parts and sections transfer, thus involving a large number of transfer vehicles such as forklifts, flatbed trucks and module trucks. However, the current transfer vehicle scheduling is still mostly manual, lacking effective vehicle scheduling state visualization monitoring means, unable to effectively control the transfer resource load, resulting in unbalanced vehicle transfer load, inability to grasp the distribution of parts and sections, unclear production site progress and other problems. At the same time, the transfer of a ship assembly plant mainly relies on manual operation, with a large number of ineffective transfers, which is inefficient and prone to the situation of people looking for transfer equipment. Due to the lack of vehicle operation monitoring means, the load of the transfer equipment cannot be balanced, the driving state of each vehicle cannot be accurately grasped, and the work cannot be reasonably assigned according to the idle condition. On the other hand, the production area of a ship assembly plant is large, with multiple production sites and a large number of transfer vehicles. Based on the map conversion method, the accurate positioning of transport vehicles and other material vehicles cannot be obtained in a timely and accurate manner, comprehensive analysis of the scheduling situation cannot be accurately realized, various operation data in the vehicle operation process cannot be comprehensively collected, and overall analysis of transport vehicle resources cannot be realized to achieve resource optimization and management.

[0004] It is necessary to accurately and quickly obtain the real-time position of the transport vehicle in the planar map in the production area by a coordinate optimization method and system for transport vehicles in the production area of a shipbuilding enterprise, realize real-time monitoring of the real-time position and transport state of the transport vehicle, and facilitate rational scheduling and comprehensive analysis of the transfer resources, and comprehensively improve the work efficiency of the transfer vehicles.

[0005] Therefore, the prior art still needs to be further improved and improved. SUMMARY

[0006] The purpose of the present application is to provide a coordinate optimization method and system for transport vehicles in the production area of a shipbuilding enterprise, which optimizes map conversion errors, improves the accuracy of map conversion, and further improves the monitoring efficiency of transport vehicles.

[0007] In order to achieve the above-mentioned purpose, the present application provides a coordinate optimization method and system for transport vehicles in the production area of a shipbuilding enterprise.

[0008] In a first aspect, the present application provides a coordinate optimization method for a transport vehicle in a shipbuilding enterprise production area, wherein the method comprises:

[0009] obtaining real-time transportation information of the transport vehicle in the shipbuilding enterprise production area, the real-time transportation information comprising real-time latitude and longitude information, direction information and running state of the transport vehicle;

[0010] converting a shipbuilding enterprise production area surveying paper into a production operation area plane map; and establishing a plane map rectangular coordinate system of the production operation area plane map;

[0011] selecting a plurality of feature coordinate points from the production operation area plane map according to the plane map rectangular coordinate system, and forming a comparison sample set from the plurality of feature coordinate points;

[0012] performing coordinate system conversion on the real-time latitude and longitude information of the transport vehicle according to the Mercator projection to obtain corresponding plane coordinate points in the earth plane coordinate system, and forming a training sample set from the plane coordinate points;

[0013] establishing a coordinate conversion target function of the comparison sample set and the training sample set according to the coordinate system conversion principle;

[0014] optimizing and solving the coordinate conversion target function by using the ant lion optimization algorithm to obtain a positioning coordinate point of the real-time latitude and longitude information of the transport vehicle in the plane map rectangular coordinate system;

[0015] obtaining a real-time position of the transport vehicle in the production operation area plane map according to the positioning coordinate point, the direction information and the running state of the transport vehicle.

[0016] In a further embodiment, the coordinate system conversion of the real-time latitude and longitude information of the transport vehicle according to the Mercator projection to obtain corresponding plane coordinate points in the earth plane coordinate system comprises:

[0017] converting the real-time latitude and longitude information of the transport vehicle from the earth latitude and longitude coordinate system to the earth plane coordinate system according to the Mercator projection, and obtaining the corresponding plane coordinate points in the earth plane coordinate system through a map positioning conversion formula.

[0018] In a further embodiment, the map positioning conversion formula for obtaining the corresponding plane coordinate points in the earth plane coordinate system is:

[0019] T lat =Z lat +(R lat -P lat )·S lat ·cosα+(Rlon -P lon )·S lon ·sinα

[0020] T lon =Z lon -(R lat -P lat )·S lat ·sinα+(R lon -P lon )·S lon ·cosα

[0021] wherein, T lat is the X coordinate of the plane coordinate point, T lon is the Y coordinate of the plane coordinate point, Z lat is the X coordinate of the map picture rotation origin pixel, Z lon is the Y coordinate of the map picture rotation origin pixel, R lat is the X coordinate of the positioning point in the earth plane coordinate system, R lon is the Y coordinate of the positioning point in the earth plane coordinate system, P lat is the X coordinate of the origin in the earth plane coordinate system, P lon is the Y coordinate of the origin in the earth plane coordinate system, S lat is the X axis direction offset scale, S lon is the Y axis direction offset scale, and α is the angle deviation between the coordinate systems.

[0022] In further embodiments, the ant lion optimization algorithm is used to optimize and solve the coordinate conversion target function to obtain the positioning coordinate point of the real-time latitude and longitude information of the transport vehicle in the plane map rectangular coordinate system, comprising:

[0023] inputting the comparative sample set into the ant lion optimization algorithm;

[0024] setting parameters of the ant lion optimization algorithm, the parameters including population size and maximum iteration number;

[0025] selecting the ant lion in the comparative sample set for iterative training according to the roulette method, and outputting the coordinate point corresponding to the comparative sample set after rectification when the maximum iteration number is reached.

[0026] In further embodiments, the ant lion optimization algorithm is an ant lion optimization algorithm improved based on a Lagrange inertia weight value.

[0027] In further embodiments, the ant lion in the comparative sample set is selected for iterative training according to the roulette method, and the coordinate point corresponding to the comparative sample set after rectification is output when the maximum iteration number is reached, comprising:

[0028] inputting the corrected coordinate points into the coordinate conversion target function;

[0029] solving key parameters of the coordinate conversion target function, the key parameters including an X-axis direction offset scale, a Y-axis direction offset scale and an angle deviation between coordinate systems;

[0030] solving, according to the key parameters, a positioning coordinate point of real-time longitude and latitude information of the transport vehicle in the plane map rectangular coordinate system through a map positioning conversion formula.

[0031] In a second aspect, the present application provides a coordinate optimization system for a transport vehicle in a production area of a shipbuilding enterprise, wherein the system comprises:

[0032] a data acquisition module configured to acquire real-time transport information of the transport vehicle in the production area of the shipbuilding enterprise, the real-time transport information including real-time longitude and latitude information, direction information and a running state of the transport vehicle;

[0033] a drawing conversion module configured to convert a surveying and mapping drawing of the production area of the shipbuilding enterprise into a production operation area plane map, and establish a plane map rectangular coordinate system of the production operation area plane map;

[0034] a positioning algorithm module configured to select a plurality of feature coordinate points from the production operation area plane map according to the plane map rectangular coordinate system, and form a comparison sample set from the plurality of feature coordinate points, and perform coordinate system conversion on the real-time longitude and latitude information of the transport vehicle according to a Mercator projection to obtain a corresponding plane coordinate point in a plane coordinate system of the earth, and form a training sample set from the plane coordinate point;

[0035] a model training module configured to establish a coordinate conversion target function of the comparison sample set and the training sample set according to a coordinate system transformation principle;

[0036] an algorithm optimization module configured to optimize and solve the coordinate conversion target function by using an ant lion optimization algorithm to obtain a positioning coordinate point of the real-time longitude and latitude information of the transport vehicle in the plane map rectangular coordinate system;

[0037] a data output module configured to obtain a real-time position of the transport vehicle in the production operation area plane map according to the positioning coordinate point, the direction information and the running state of the transport vehicle.

[0038] In a third aspect, the present application also provides a computer device comprising a processor and a memory, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory, so that the computer device executes the steps of the above method.

[0039] In a fourth aspect, the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the above method.

[0040] The present application provides a coordinate optimization method and system for a transport vehicle in a ship enterprise production area, which has the beneficial effects compared with the prior art that:

[0041] The map coordinate conversion function can be optimized by the lion optimization algorithm based on the improved Lagrange inertia weight value, the map conversion error is optimized, the low precision problem caused by the map conversion error is reduced, the map conversion precision is improved, the monitoring efficiency of the transport vehicle in the production operation area is improved, and the rationalization scheduling and comprehensive analysis of the transfer resources are facilitated, and the work efficiency of the transfer vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 is a flowchart of a coordinate optimization method for a transport vehicle in a ship enterprise production area provided by an embodiment of the present application;

[0043] Figure 2 is a structural schematic diagram of a transport vehicle running monitoring system in a ship enterprise production area provided by an embodiment of the present application;

[0044] Figure 3 is a coordinate point correction calculation result schematic diagram provided by an embodiment of the present application;

[0045] Figure 4 is a system block diagram of a coordinate optimization system for a transport vehicle in a ship enterprise production area provided by an embodiment of the present application;

[0046] Figure 5 is a structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments are given only for illustrative purposes, and cannot be understood as limiting the present application. The accompanying drawings are only for reference and illustration, and do not constitute a limitation on the scope of patent protection of the present application, because many changes can be made to the present application without departing from the spirit and scope thereof.

[0048] Mercator projection, Mercator projection is the normal axis equiangular cylindrical projection, also known as equiangular cylindrical projection, a kind of cylindrical projection, created by Dutch cartographer Mercator (G. Mercator) in 1569. Mercator projection projects the points with latitude Φ (-90° < Φ < 90°) to: y = sign (Φ) * ln (tan (45° + abs (Φ / 2)), wherein: when Φ < 0, sign (Φ) = -1;When Φ = 0, sign (Φ) = 0;When Φ > 0, sign (Φ) = 1;abs (Φ) is the absolute value of Φ. After Mercator projection, the meridian is uniformly distributed, which can improve the accuracy of converting latitude and longitude information from the earth latitude and longitude coordinate system to the earth plane coordinate system, and lay the foundation for optimizing the algorithm to optimize the coordinates and reduce the error.

[0049] The basic principle of ant lion optimizer (ALO) is as follows: ants randomly walk around ant lions, thereby realizing the search of feasible solution space, and in the process, the position information of ant lions and elite ant lions is used to ensure the optimization ability of the algorithm. When the ants search for a solution with higher quality, the position of the ant lion is replaced by the ant, and whether to replace the elite ant lion is determined according to the fitness value of the current ant lion. The process is essentially an approximate optimal solution updating process.

[0050] In one embodiment, as shown in Figure 1 The application provides a coordinate optimization method for a transport vehicle in a ship enterprise production area.

[0051] S1, obtain real-time transportation information of the transport vehicle in the ship enterprise production area, the real-time transportation information including real-time latitude and longitude information, direction information and running state of the transport vehicle. It can be understood that when collecting the real-time transportation information of the transport vehicle in the ship enterprise production area, the data is collected by a vehicle positioning system. The vehicle positioning system includes a vehicle positioning module, a 5G network and a data server. The vehicle positioning module can use a positioning system including Beidou navigation positioning for real-time positioning, and the vehicle positioning module is installed on the transport vehicle. The data collection frequency can be set to 20-60 seconds, which is more conducive to collecting stable data information. The real-time positioning information and the vehicle running state are transmitted to the data server for storage through the network base station and the gateway.

[0052] S2, convert the surveying and mapping paper of the ship enterprise production area into a production operation area plane map; establish a plane map rectangular coordinate system of the production operation area plane map. It can be understood that the surveying and mapping paper of the ship enterprise production area is converted into a production operation area plane map through a drawing software, and a plane map rectangular coordinate system is established based on the production operation area plane map.

[0053] S3, selecting a plurality of characteristic coordinate points from the production operation area plan map according to the plan map rectangular coordinate system, and forming a comparison sample set from the plurality of characteristic coordinate points; it can be understood that a plurality of characteristic coordinate points are selected from the production operation area plan map according to the plan map rectangular coordinate system, and a comparison sample set B is formed from the plurality of characteristic coordinate points, and the plurality of characteristic coordinate points are B i (B lat , B lon ); wherein B lat is the X coordinate of the plan map rectangular coordinate system, B lon is the Y coordinate of the plan map rectangular coordinate system, B i , i = 1,..., n is n rectangular coordinate points.

[0054] S4, according to the Mercator projection, the real-time latitude and longitude information of the transport vehicle is converted in the coordinate system, and the corresponding planar coordinate point in the earth plane coordinate system is obtained, and the training sample set is formed by the planar coordinate point;

[0055] Further, according to the Mercator projection, the real-time latitude and longitude information of the transport vehicle is converted from the earth latitude and longitude coordinate system to the earth plane coordinate system, and the corresponding planar coordinate point in the earth plane coordinate system is obtained through the map positioning conversion formula; the meridian after the Mercator projection is uniformly distributed, thereby improving the accuracy of converting the latitude and longitude information from the earth latitude and longitude coordinate system to the earth plane coordinate system, and laying a foundation for optimizing the algorithm to optimize the coordinates and reduce the error.

[0056] Further, the corresponding planar coordinate point in the earth plane coordinate system is obtained by the map positioning conversion formula, and the map positioning conversion formula is:

[0057] T lat = Z lat +(R lat -P lat )·S lat ·cosα+(R lon -P lon )·S lon ·sinα

[0058] T lon = Z lon -(R lat -P lat )·S lat ·sinα+(R lon -P lon )·S lon ·cosα(1)

[0059] Wherein, in formula (1), T lat is the X coordinate of the planar coordinate point, Tlon Y coordinate of the plane coordinate point, Z lat X coordinate of the map picture rotation origin pixel, Z lon Y coordinate of the map picture rotation origin pixel, R lat X coordinate of the positioning point in the earth plane coordinate system, R lon Y coordinate of the positioning point in the earth plane coordinate system, P lat X coordinate of the origin in the earth plane coordinate system, P lon Y coordinate of the origin in the earth plane coordinate system, S lat X-axis direction offset scale, S lon Y-axis direction offset scale, α is the angle deviation between coordinate systems.

[0060] S5, according to the coordinate system transformation principle, the coordinate conversion target function of the contrast sample set and the training sample set is established; it can be understood that for the map positioning conversion formula in step S4, the coordinate matrix form is obtained according to the matrix transformation principle:

[0061]

[0062] The coordinate matrix form is simplified as Let G=R-P;

[0063]

[0064]

[0065] T lat =Z lat +[cosα·sinα]·G*S

[0066] T lon =Z lon +[-sinα·cosα]·G*S

[0067] Wherein, in the above map positioning conversion formula, for those skilled in the art, Z lon is a known variable, G=R-P, R and P are also known variables, only the coordinate conversion target function established by the contrast sample set and the training sample set needs to be optimized by the ant lion optimization algorithm to solve the minimum value of the unknown map conversion deviation S lat , S lon and α, obtain the three key parameters S lat , S lon and α, so that the conversion of the plane coordinate point in the earth plane coordinate system can be carried out through the map positioning conversion formula, and the coordinate conversion error is reduced.

[0068] ​S6, the ant lion optimization algorithm is used to optimize and solve the coordinate conversion target function, so as to obtain the positioning coordinate point of the real-time latitude and longitude information of the transport vehicle in the plane map rectangular coordinate system;

[0069] Specifically, the ant lion optimization algorithm is used to optimize and solve the coordinate conversion target function, so as to obtain the positioning coordinate point of the real-time latitude and longitude information of the transport vehicle in the plane map rectangular coordinate system.

[0070] The comparative sample set is input into the ant lion optimization algorithm;

[0071] The parameters of the ant lion optimization algorithm are set, including the population size and the maximum number of iterations;

[0072] According to the roulette method, the ant lion in the comparative sample set is selected for iterative training, and when the maximum number of iterations is reached, the coordinate point corresponding to the comparative sample set after correction is output;

[0073] Further, the ant lion optimization algorithm is an ant lion optimization algorithm improved based on the Lagrange inertia weight value;

[0074] Further, the ant lion in the comparative sample set is selected for iterative training according to the roulette method, and when the maximum number of iterations is reached, the coordinate point corresponding to the comparative sample set after correction is output.

[0075] The corrected coordinate point is input into the coordinate conversion target function, and the coordinate conversion target function is min S，α |T-B|, wherein T is the training sample set, and B is the comparative sample set;

[0076] The key parameters of the coordinate conversion target function are solved, including the X-axis direction offset scale, the Y-axis direction offset scale, and the angle deviation between the coordinate systems, that is, the minimum value S lat , S lon and α;

[0077] According to the key parameters, the positioning coordinate point of the real-time latitude and longitude information of the transport vehicle in the plane map rectangular coordinate system is solved through the map positioning conversion formula. It can be understood that, on the basis of the ant lion optimization algorithm, the coordinate conversion target function min S，α |T-B| of the comparative sample set B and the training sample set T is calculated by using the improved ant lion optimization algorithm, and the minimum value S lat , S lonand a. Wherein, the improved aardvark optimization algorithm is to solve the problem of lack of adaptability of the contrast sample set B in the process of position update by adding the Lagrange inertia weight in the aardvark optimization algorithm, further improving the accuracy and optimization efficiency of map coordinate optimization. The steps of the aardvark optimization algorithm based on the Lagrange inertia weight are as follows:

[0078] The contrast sample set B is input into the aardvark optimization algorithm, and the parameters of the aardvark optimization algorithm are set;

[0079] The aardvark and ant positions are initialized, the fitness value is calculated according to formula (2), the elite aardvark is determined, and the aardvark optimization algorithm loop is entered;

[0080]

[0081] The Lagrange inertia weight value is added and updated in the aardvark optimization algorithm loop;

[0082] The aardvark is selected by roulette method, and the values of c and d are updated according to formulas (3) and (4);

[0083]

[0084]

[0085]

[0086]

[0087] c t and d t are the minimum and maximum values at iteration, w is a constant;

[0088] The ants and aardvarks are randomly walked according to formula (5), and normalized according to formula (6);

[0089]

[0090]

[0091]

[0092] cumsum is the cumulative sum of the ant colony tour path, t is the current iteration number, r(t) is a random function, T max is the maximum iteration number, a i and b i are the minimum and maximum values of ant walking, and are the minimum and maximum values of the tth iteration, respectively. the jth ant lion selected for the ith generation;

[0093] updating the ant position according to formula (7);

[0094]

[0095] when the fitness value of the ant is better than that of the ant lion, the ant lion is replaced;

[0096] when the fitness value of a certain ant lion is better than that of the elite ant lion, the elite ant lion is updated;

[0097] when the condition or is met, a random disturbance invasion grass strategy is executed;

[0098] when the condition is met, an adaptive local search strategy is executed;

[0099] when the maximum number of iterations is reached, the elite ant lion and the fitness value are output, and the coordinate points after rectification are output;

[0100] otherwise, the ant lion optimization algorithm loop is re-executed, and the Lagrange inertia weight value is added and updated until the coordinate points after rectification are output.

[0101] S7, according to the positioning coordinate point, the direction information and the running state of the transport vehicle, the real-time position of the transport vehicle in the production operation area plane map is obtained. That is, the transport vehicle in the production operation area plane map positioning coordinate point obtained by the coordinate conversion target function optimized by the ant lion optimization algorithm, combined with the direction information and the running state of the transport vehicle, the real-time position of the transport vehicle in the production operation area plane map can be positioned in time and accurately, further improving the positioning efficiency and the scheduling efficiency of the transport vehicle.

[0102] In this embodiment, the ant lion optimization algorithm based on the improved Lagrange inertia weight value can optimize the map coordinate conversion function, optimize the map conversion error, reduce the low accuracy caused by the map conversion error, and further improve the accuracy of the map conversion, improve the monitoring efficiency of the transport vehicle in the production operation area, and is conducive to realizing the rationalization scheduling and comprehensive analysis of the transfer resources, and improving the working efficiency of the transfer vehicle.

[0103] Preferably, as shown in Figure 2 , a transport vehicle running monitoring system is built in the ship enterprise production area, which includes a vehicle positioning system and an operation resource management system.

[0104] The vehicle positioning system comprises a vehicle positioning module, a 5G network and a data server, the vehicle positioning module is installed on a transfer vehicle, the data acquisition frequency can be set to 20-60 seconds, which is used to acquire real-time latitude and longitude information, direction information and vehicle running state of the transport vehicle, and transmit the real-time positioning information and the vehicle running state to the data server through the network base station and the gateway for storage.

[0105] The operation resource management system is connected with the data server, and is used to acquire the real-time latitude and longitude information, the direction information and the vehicle running state of the vehicle from the data server, convert the real-time latitude and longitude information of the vehicle into coordinate points in a plane map rectangular coordinate system based on a Mercator projection and a map positioning conversion formula through a preset positioning map conversion algorithm in the operation resource management system, and display the real-time position of the transport vehicle in the production operation area map in combination with the direction information and the vehicle state information, so that the dispatcher can timely and accurately master the real-time position of the transport vehicle and reasonably arrange the dispatching of the transport vehicle, thereby improving the production efficiency of the shipbuilding enterprise, wherein the map positioning conversion formula is calculated by the map conversion algorithm according to a coordinate conversion target function in combination with an ant lion optimization algorithm.

[0106] Specifically, based on a shipbuilding enterprise production operation area surveying and mapping paper, the surveying and mapping paper is converted into a production operation area plane map through a drawing software, and a rectangular coordinate system is established with the lower left corner of the production operation area plane map as the origin; seven feature points in the production operation area map are selected to confirm their coordinate points Bi in the rectangular coordinate system to form a comparison sample set B, as follows:

[0107] B1 = [2458, 1961], B2 = [3217, 3283], B3 = [357, 2606],

[0108] B4 = [360, 1960], B5 = [1073, 998], B6 = [2240, 172],

[0109] B7 = [1668, 1501],

[0110] The real-time latitude and longitude data collected when the vehicle positioning module is at the position are acquired through the vehicle positioning system, and the real-time latitude and longitude data are converted from the earth latitude and longitude coordinate system to the earth plane coordinate system through the Mercator projection to form a training sample set T:

[0111] T1 = [113.6400621948, 22.7067288293],

[0112] T2 = [113.6370536383, 22.7018339770],

[0113] T3 = [113.6337808130, 22.7117454132],

[0114] T4 = [113.6359199220, 22.7132612182],

[0115] T5 = [113.6401550885, 22.7131022517],

[0116] T6 = [113.6457664962, 22.7111110507],

[0117] T7 = [113.6400750257, 22.7102987215],

[0118]

[0119] According to the principle of coordinate system transformation, a conversion target function of the map rectangular coordinate system and the earth plane coordinate system of the production operation area is established, based on the comparison sample set B and the training sample set T, the IALO optimization algorithm is used to solve the target function, and three key parameters in the coordinate transformation can be obtained: the latitude offset scale S lat is 255582, the longitude offset scale S lon is 270182, and the angle deviation a between the rectangular coordinate system and the map plane coordinate system is -58.4, that is, the map positioning conversion formula can be obtained. In the positioning correction result as shown in Figure 3 In the positioning correction result as shown in , there is a certain difference between the coordinate position of the transport vehicle in the earth plane coordinate system and the coordinate position of the transport vehicle in the earth plane coordinate system which has been subjected to positioning correction, but by optimizing the map coordinate conversion function based on the ant lion optimization algorithm improved based on the Lagrange inertia weight value, the map conversion error can be optimized, and the accuracy of the map positioning conversion formula is further improved.

[0120] Based on the above-mentioned coordinate optimization method of the transport vehicle in the production area of the shipbuilding enterprise, as shown in Figure 4 , the embodiment of the present application provides a coordinate optimization system of the transport vehicle in the production area of the shipbuilding enterprise, the system comprises:

[0121] The data acquisition module 101 is configured to acquire real-time transportation information of a transportation vehicle in a shipbuilding enterprise production area, wherein the real-time transportation information includes real-time latitude and longitude information, direction information and running state of the transportation vehicle. It can be understood that the real-time transportation information of the transportation vehicle in the shipbuilding enterprise production area is acquired by a vehicle positioning system. The vehicle positioning system includes a vehicle positioning module, a 5G network and a data server. The real-time positioning can be performed by using a positioning system such as a Beidou navigation positioning system. The vehicle positioning module is installed on the transportation vehicle. The data acquisition frequency can be set to 20-60 seconds, which is more conducive to acquiring stable data information. The real-time positioning information and the running state of the vehicle are transmitted to the data server through a network base station and a gateway for storage.

[0122] The drawing conversion module 102 is configured to convert a surveying and mapping drawing of the shipbuilding enterprise production area into a production operation area plan map. A plan map rectangular coordinate system of the production operation area plan map is established. It can be understood that the surveying and mapping drawing of the shipbuilding enterprise production area is converted into the production operation area plan map by using a drawing software, and the plan map rectangular coordinate system is established based on the production operation area plan map.

[0123] The positioning algorithm module 103 is configured to select a plurality of feature coordinate points from the production operation area plan map according to the plan map rectangular coordinate system, and form a comparison sample set from the plurality of feature coordinate points. The real-time latitude and longitude information of the transportation vehicle is converted into a plan coordinate point in an earth plane coordinate system by using a Mercator projection, and a training sample set is formed from the plan coordinate point. The meridian after the Mercator projection is uniformly distributed, thereby improving the accuracy of converting the latitude and longitude information from an earth latitude and longitude coordinate system into an earth plane coordinate system, and laying a foundation for optimizing the algorithm to reduce the error of the coordinate optimization.

[0124] The model training module 104 is configured to establish a coordinate conversion target function of the comparison sample set and the training sample set according to a coordinate system transformation principle.

[0125] The algorithm optimization module 105 is configured to optimize and solve the coordinate conversion target function by using an ant lion optimization algorithm, so as to obtain a positioning coordinate point of the real-time latitude and longitude information of the transportation vehicle in the plan map rectangular coordinate system. It can be understood that, on the basis of the ant lion optimization algorithm, the coordinate conversion target function min S，α |T-B| is calculated by using the improved ant lion optimization algorithm, and a minimum value S lat of the map conversion deviation is obtained. lonand alpha, wherein the improved alicia optimization algorithm is an alicia optimization algorithm with a Lagrange inertial weight added to solve the problem of lack of adaptability of the contrast sample set B in the process of position updating, and further improve the accuracy and optimization efficiency of map coordinate optimization.

[0126] The data output module 106 is configured to obtain the real-time position of the transport vehicle in the production operation area plane map according to the positioning coordinate point, the direction information and the running state of the transport vehicle, that is, the real-time position of the transport vehicle in the production operation area plane map is positioned in time and accurately by combining the positioning coordinate point of the transport vehicle in the production operation area plane map obtained by the coordinate conversion target function optimized by the alicia optimization algorithm, the direction information and the running state of the transport vehicle, and further improving the positioning efficiency and the scheduling efficiency of the transport vehicle.

[0127] In the system, the map coordinate conversion function can be optimized by the alicia optimization algorithm improved based on the Lagrange inertial weight value, the map conversion error is optimized, the low accuracy problem caused by the map conversion error is reduced, the accuracy of the map conversion is improved, the monitoring efficiency of the transport vehicle in the production operation area is improved, and the rationalization scheduling and comprehensive analysis of the transport resource are facilitated, and the work efficiency of the transport vehicle is improved comprehensively.

[0128] In a third aspect, as shown in Figure 5 The computer device further includes a processor and a memory, the processor is connected with the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the steps of the above method.

[0129] In a fourth aspect, the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the above method.

[0130] In summary, by the coordinate optimization method and system of the transport vehicle in the production area of a shipbuilding enterprise, the map coordinate conversion function can be optimized by the alicia optimization algorithm improved based on the Lagrange inertial weight value, the map conversion error is optimized, the low accuracy problem caused by the map conversion error is reduced, the accuracy of the map conversion is improved, the monitoring efficiency of the transport vehicle in the production operation area is improved, the rationalization scheduling and comprehensive analysis of the transport resource are facilitated, the work efficiency of the transport vehicle is improved comprehensively, and the production efficiency of the shipbuilding enterprise is further improved.

[0131] The above merely describes the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, some improvements and replacements can be made without departing from the counting principle of the present application, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A method for coordinate optimization of transport vehicles within a shipbuilding enterprise production area, characterized by, The method comprises: acquiring real-time transportation information of a transportation vehicle in a ship enterprise production area, the real-time transportation information comprising real-time latitude and longitude information, direction information and running state of the transportation vehicle; converting a ship enterprise production area surveying and mapping paper into a production operation area plane map; establishing a plane map rectangular coordinate system of the production operation area plane map; selecting a plurality of feature coordinate points from the production operation area plane map according to the plane map rectangular coordinate system, and forming a comparison sample set from the plurality of feature coordinate points; performing coordinate system conversion on the real-time latitude and longitude information of the transportation vehicle according to Mercator projection, to obtain corresponding plane coordinate points in an earth plane coordinate system, and forming a training sample set from the plane coordinate points; establishing a coordinate conversion target function of the comparison sample set and the training sample set according to the principle of coordinate system conversion; performing optimization and solving on the coordinate conversion target function by using an ant lion optimization algorithm, to obtain positioning coordinate points of the real-time latitude and longitude information of the transportation vehicle in the plane map rectangular coordinate system; obtaining a real-time position of the transportation vehicle in the production operation area plane map according to the positioning coordinate points, the direction information and the running state of the transportation vehicle.

2. A method of optimizing coordinates of a transport vehicle in a production area of a shipyard enterprise as claimed in claim 1, characterized in that, The coordinate system conversion on the real-time latitude and longitude information of the transportation vehicle according to Mercator projection to obtain corresponding plane coordinate points in an earth plane coordinate system comprises: performing coordinate system conversion on the real-time latitude and longitude information of the transportation vehicle from an earth latitude and longitude coordinate system to an earth plane coordinate system according to Mercator projection, and obtaining the corresponding plane coordinate points in the earth plane coordinate system through a map positioning conversion formula.

3. A method of optimizing coordinates of a transport vehicle in a shipbuilding enterprise production area according to claim 2, characterized in that, The map positioning conversion formula for obtaining the corresponding plane coordinate points in the earth plane coordinate system comprises: T lat = Z lat + (R lat - P lat ) · S lat · cos a + (R lon - P lon ) · S lon · sin a T lon = Z lon - (R lat -P lat ) · S lat · sin α + (R lon -P lon ) · S lon · cos α wherein, T lat is the X coordinate of the plane coordinate point, T lon is the Y coordinate of the plane coordinate point, Z lat is the X coordinate of the pixel of the rotation origin of the map picture, Z lon is the Y coordinate of the pixel of the rotation origin of the map picture, R lat is the X coordinate of the positioning point in the earth plane coordinate system, R lon is the Y coordinate of the positioning point in the earth plane coordinate system, P lat is the X coordinate of the origin in the earth plane coordinate system, P lon is the Y coordinate of the origin in the earth plane coordinate system, S lat is the offset scale in the X axis direction, S lon is the offset scale in the Y axis direction, and α is the angle deviation between the coordinate systems.

4. A method of optimizing coordinates of a transport vehicle in a shipbuilding enterprise production area according to claim 1, characterized in that, The optimization and solving on the coordinate conversion target function by using the ant lion optimization algorithm to obtain the positioning coordinate points of the real-time latitude and longitude information of the transportation vehicle in the plane map rectangular coordinate system comprises: inputting the comparison sample set into the ant lion optimization algorithm; setting parameters of the ant lion optimization algorithm, the parameters comprising a population size and a maximum iteration number; selecting an ant lion in the comparison sample set for iterative training according to a roulette method, and outputting corresponding coordinate points of the comparison sample set after rectification when the maximum iteration number is reached.

5. A method of optimizing coordinates of a transport vehicle in a shipbuilding enterprise production area according to claim 4, characterized in that, The ant lion optimization algorithm is an ant lion optimization algorithm improved based on a Lagrange inertia weight value.

6. A method of optimizing coordinates of a transport vehicle in a shipbuilding enterprise production area according to claim 4, characterized in that, The optimization and solving on the coordinate conversion target function by using the ant lion optimization algorithm to obtain the positioning coordinate points of the real-time latitude and longitude information of the transportation vehicle in the plane map rectangular coordinate system comprises: inputting the coordinate points after rectification into the coordinate conversion target function; solving key parameters of the coordinate conversion target function, the key parameters comprising an X-axis direction offset scale, a Y-axis direction offset scale and an angle deviation between coordinate systems; obtaining the positioning coordinate points of the real-time latitude and longitude information of the transportation vehicle in the plane map rectangular coordinate system through a map positioning conversion formula according to the key parameters.

7. A coordinate optimization system for transporting vehicles within a shipyard enterprise production area, characterized by, The system comprises: The data acquisition module is configured to acquire real-time transportation information of the transportation vehicle in the shipbuilding enterprise production area, wherein the real-time transportation information includes real-time latitude and longitude information, direction information and running state of the transportation vehicle. The drawing conversion module is configured to convert a surveying and mapping drawing of the shipbuilding enterprise production area into a production operation area planar map, and establish a planar map rectangular coordinate system of the production operation area planar map. The positioning algorithm module is configured to select a plurality of feature coordinate points from the production operation area planar map according to the planar map rectangular coordinate system, and form a comparison sample set by using the plurality of feature coordinate points; and perform coordinate system conversion on the real-time latitude and longitude information of the transportation vehicle according to the Mercator projection to obtain corresponding planar coordinate points in the earth plane coordinate system, and form a training sample set by using the planar coordinate points. The model training module is configured to establish a coordinate conversion target function of the comparison sample set and the training sample set according to a coordinate system conversion principle. The algorithm optimization module is configured to optimize and solve the coordinate conversion target function by using an ant lion optimization algorithm to obtain a positioning coordinate point of the real-time latitude and longitude information of the transportation vehicle in the planar map rectangular coordinate system. The data output module is configured to obtain a real-time position of the transportation vehicle in the production operation area planar map according to the positioning coordinate point, the direction information and the running state of the transportation vehicle.

8. A computer device, comprising: The computer device includes a processor and a memory, the processor is connected with the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the method in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and when the computer program is executed, the method in any one of claims 1 to 6 is realized.

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