Complex component space attitude real-time positioning and determining method

Abstract

The invention discloses a complex component space attitude real-time positioning and determining method, which comprises the following steps: 1) registering a design model to a design installation position; 2) according to the registered overall design model, obtaining a target feature point of a to-be-hoisted component after hoisting is completed; the target feature point is a key identification point for installing the component in place; 3) selecting three non-collinear points on the component to be hoisted as GNSS antenna mounting points, and mounting GNSS equipment on the component to be hoisted; 4) calculating the coordinates of the GNSS antenna on the member to be hoisted after the member is installed in place; 5, the posture and the position of the component to be hoisted in real time are obtained through the GNSS antenna coordinates obtained in real time, hoisting of the component to be hoisted is guided, and hoisting of the component to be hoisted is completed. The aerial posture and the position of the component can be calculated in real time in the hoisting process, and the hoisting process can be effectively guided.

Description

Technical Field

[0001] The present invention relates to component spatial positioning technology, and in particular to a method for real-time positioning and determining the spatial posture of a complex component. Background Art

[0002] Current construction projects often require the joining of two complex components mid-air. In these situations, the typical approach is to send personnel to the site via equipment or devices to observe and direct the work. However, this approach poses a threat to personal safety and prevents effective control of the equipment controlling the joining components on the ground. This results in a significant time-consuming process to adjust the component's posture and position to the designed position. Modern lifting technology has introduced hydraulic systems, motor drives, and precision control systems, improving lifting accuracy and efficiency. These technologies include tower cranes, truck cranes, and excavator booms. Automated control systems, such as PLCs (Programmable Logic Controllers) and CNCs (Computer Numerical Controls), are widely used in manufacturing and engineering to control and automate equipment operations. These systems offer enhanced accuracy and repeatability. Consequently, accurately determining the posture and position of components in mid-air in real time has become a key research topic. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method for real-time positioning and determination of the spatial posture of a complex component in response to the defects in the prior art.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a method for real-time positioning and determining the spatial posture of a complex component, comprising the following steps: 1) Register the design model to the design installation location: According to the on-site hoisting situation, the hoisted part on site is used as a known on-site reference object. Through on-site measurement, the hoisted part on site is matched with the hoisted part model in the design model to obtain the rotation (R) and translation (T) parameters of the hoisted part model to the on-site geographic coordinate system; Use the RT parameters to transform the overall design model into the on-site geographic coordinate system so that the position and posture of the overall design model correspond to the actual on-site environment; 2) Based on the registered overall design model, obtain the target feature points after the component to be hoisted is hoisted. The target feature points are key identification points for the component to be installed in place. 3) Select three non-collinear points on the structure to be hoisted as GNSS antenna installation points, and install the GNSS device on the structure to be hoisted; 4) Calculate the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place; 5) The real-time GNSS antenna coordinates are used to obtain the real-time posture and position of the component to be hoisted, guide the hoisting of the component to be hoisted, and complete the hoisting of the component to be hoisted.

[0005] According to the above solution, in step 4), the coordinates of the GNSS antenna on the component to be hoisted after the component is installed are calculated as follows: 4.1) Measure the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of three selected feature points (M1, M2, M3) on the component to be hoisted; 4.2) Based on the target characteristic points of the component to be hoisted obtained in step 3), obtain three characteristic points (Mg1, Mg2, Mg3) of the component to be hoisted on the overall model adjusted to the on-site geographic coordinate system; 4.3) Based on the correspondence between (M1, M2, M3) and (Mg1, Mg2, Mg3), and the relationship between the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of three selected feature points on the component to be hoisted, calculate the coordinates of the GNSS antenna in the target geographic coordinate system (Gg1, Gg2, Gg3).

[0006] According to the above solution, in step 5), the real-time posture and position of the component to be hoisted are obtained by using the real-time GNSS antenna coordinates to guide the hoisting of the component to be hoisted; specifically, the following steps are performed: 5.1) Unified Coordinate System: Convert the WGS84 coordinate system measured by GNSS to the on-site engineering coordinate system in real time to ensure that the coordinate system of the antenna position is consistent with the on-site point cloud and the overall design model; 5.2) Calculate the motion transformation of the component based on the difference between the real-time coordinates and the coordinates at the previous moment, and obtain the transformation matrix of the displacement and posture of the component in real time and at the previous moment. Use this transformation matrix to drive the 3D visualization model, so that the motion of the components in the 3D visualization model is completely consistent with the on-site components. 5.3) Calculate the coordinates of the target feature points and determine whether the component has reached the final installation position based on the deviation between the real-time coordinates and the final target coordinates of the current hoisted component; 5.4) By comparing the plane angle deviation between the real-time coordinates and the final target coordinates of the currently hoisted component and the design plane angle, it is determined whether the component posture meets the design requirements and further whether the hoisting is in place.

[0007] According to the above scheme, in step 5), the hoisting of the component to be hoisted is completed by comparing the real-time GNSS antenna coordinates (G1, G2, G3) with the coordinates of the GNSS antenna in the target geographic coordinate system environment (Gg1, Gg2, Gg3) until (G1, G2, G3) coincide with (Gg1, Gg2, Gg3).

[0008] According to the above solution, in step 3), the three antenna installation points are spatially distributed in an equilateral triangle.

[0009] According to the above solution, in step 3), the three antenna installation points are the three corner points of the component, forming a monitoring surface.

[0010] The beneficial effects produced by the present invention are: 1. The present invention calculates the aerial posture and position of the entire component to be hoisted through the relatively easy-to-measure antenna coordinates, avoiding the measurement of the connection point coordinates that are relatively difficult to measure.

[0011] 2. The present invention can calculate the aerial posture and position of the component in real time during the hoisting process. By calculating the aerial posture of the component and the relative distance to the target position, the hoisting process can be effectively guided, and the safety hazards caused by personnel observing the aerial components with the naked eye can be avoided. The part to be hoisted can be accurately connected with the existing part, which can effectively improve the speed of the hoisting project and has the advantages of high precision and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which: Figure 1 is a flow chart of a method according to an embodiment of the present invention; Figure 2 It is a flow chart of a method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0014] like Figure 1 As shown, a method for real-time positioning and determining the spatial posture of a complex component includes the following steps: 1) Register the design model to the design installation location: According to the on-site hoisting situation, the hoisted part on site is used as a known on-site reference object. Through on-site measurement, the hoisted part on site is matched with the hoisted part model in the design model to obtain the rotation (R) and translation (T) parameters of the hoisted part model to the on-site geographic coordinate system; Use the RT parameters to transform the overall design model into the on-site geographic coordinate system so that the position and posture of the overall design model correspond to the actual on-site environment; 2) Scan the 3D point cloud of the hoisted part on site and verify the accuracy of the model by comparing the degree of overlap between the design model and the point cloud. If the deviation exceeds the threshold, the model will be corrected. In the component installation positioning process, ICP (Iterative Closest Point) is one of the core technologies for achieving precise registration between the design model and the on-site scanned point cloud. It iteratively calculates the optimal rotation and translation transformation between the two point sets (the design model point cloud and the on-site scanned point cloud) to maximize spatial overlap, thus achieving precise alignment of coordinate systems or verifying the consistency between the model and the site.

[0015] 3) Based on the registered overall design model, obtain the target feature points after the component to be hoisted is hoisted; the target feature points are the key identification points for the component to be installed in place; 4) Select three non-collinear points on the structure to be hoisted as GNSS antenna installation points, and install the GNSS device on the structure to be hoisted; Three sets of GNSS are installed at the three corner points of the prefabricated component to form a monitoring surface, and their position and posture are monitored simultaneously. The spatial distribution of the three points forms an equilateral triangle.

[0016] 5) Calculate the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place; The details are as follows: 5.1) Measure the coordinates of the GNSS antenna on the component to be hoisted (G1, G2, G3) and the coordinates of three selected feature points (vertices or bases) on the component to be hoisted (M1, M2, M3); 5.2) Based on the target characteristic points of the component to be hoisted obtained in step 3), obtain three characteristic points (Mg1, Mg2, Mg3) of the component to be hoisted on the overall model adjusted to the on-site geographic coordinate system; 5.3) Based on the correspondence between (M1, M2, M3) and (Mg1, Mg2, Mg3), and the relationship between the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of three selected feature points on the component to be hoisted, calculate the coordinates of the GNSS antenna in the target geographic coordinate system (Gg1, Gg2, Gg3).

[0017] 6) Obtain the real-time posture and position of the component to be hoisted through the real-time GNSS antenna coordinates (G1, G2, G3), guide the hoisting of the component to be hoisted, and compare the real-time GNSS antenna coordinates (G1, G2, G3) with the coordinates of the GNSS antenna in the target geographic coordinate system environment (Gg1, Gg2, Gg3) until (G1, G2, G3) coincide with (Gg1, Gg2, Gg3), and complete the hoisting of the component to be hoisted.

[0018] In step 6), the real-time attitude and position of the component to be hoisted are obtained through the real-time GNSS antenna coordinates (G1, G2, G3), as follows: 6.1) Unified Coordinate System: Convert the WGS84 coordinate system measured by GNSS to the on-site engineering coordinate system in real time to ensure that the coordinate system of the antenna position is consistent with the on-site point cloud and the overall design model; The default GNSS output is the WGS84 coordinate system (the geocentric coordinate system used for global positioning). However, construction sites typically use an engineering coordinate system, which is established based on the site topography or design requirements. This coordinate system is consistent with the coordinate system of the scanned point cloud and design model, and requires coordinate unification. In this embodiment, a four-parameter coordinate transformation is used.

[0019] 6.2) Calculate the component's motion transformation based on the difference between the real-time coordinates and the coordinates at the previous moment, and obtain a transformation matrix that represents the component's displacement and posture at the previous moment. This transformation matrix is ​​used to drive the 3D visualization model, ensuring that the motion of the components in the 3D visualization model is completely consistent with the on-site components. 6.3) Calculate the coordinates of the target feature points and determine whether the component has reached the final installation position based on the deviation between the real-time coordinates and the final target coordinates of the current hoisted component; 6.4) By comparing the plane angle deviation between the real-time coordinates and the final target coordinates of the hoisted component and the design plane angle, it is determined whether the component posture meets the design requirements and further whether the hoisting is in place.

[0020] Example 2: The A4 segment of the "Pearl of Optics Valley" project was hoisted. This project features an all-steel frame structure covered in stainless steel. During the A4 segment hoisting process, a total station and GPS antenna were required to track and simulate the hoisting process and verify the hoisting position information. Furthermore, since the structure was hoisted in sections, the coordinates of the connection points were difficult to measure directly. Therefore, a calculation method was required to convert the geographic location of other parts of the component into the location of the connection points in real time to ensure the desired position and posture of the hoisted object. Our designed real-time positioning calculation method for the spatial posture of complex components met all these requirements.

[0021] The specific operation method of this embodiment is as follows Figure 2 As shown: Step 1) Register the design model to the design installation location; 1.1) Take out the model of the hoisted part (A1A2A3); 1.2) Use ICP and the on-site scan point cloud to align the model of the hoisted part (A1A2A3) with the on-site; 1.3) Obtain the RT matrix of the hoisted part of the model to the on-site geographic coordinate system; 1.4) Convert the complete design model to the on-site geographic coordinate system through the RT matrix; Step 2) Obtain the estimated coordinates of the module to be hoisted after completion of hoisting; The accuracy of the model was verified by comparing the three feature points at the bottom of the A4 segment (top of the A3 segment) in the 3D point cloud scanned on site with the three feature points in the overall model after registration. The coordinates of the feature points were extracted as follows: 823365.757 370930.998 49.826; 823370.936 370931.238 49.807; 823368.004 370935.285 49.786; Step 3) Determine the installation location of the GPS antenna to be hoisted; Select a suitable location on the hoisted object to install the GPS antenna. Note that the three points cannot be in the same straight line. Also, make sure that the GPS antenna faces upward as much as possible and does not contact, collide or block other parts of the component.

[0022] Step 4) Measure the target position of the GPS antenna to be hoisted; 4.1) Use RTK, total station, scanner and other equipment to measure the coordinates of the GPS antenna (G1, G3, G3) of the unassembled part and the coordinates of the three characteristic points (vertex or bottom point) of the tower beam (M1, M2, M3); 4.2) Obtain the coordinates of the corresponding model feature points (Mg1, Mg2, Mg3) in the pre-registered target geographic coordinate system. 4.3) Based on the correspondence between (M1, M2, M3) and (Mg1, Mg2, Mg3), calculate the coordinates (Gg1, Gg3, Gg3) of the GPS antenna (G1, G3, G3) in the target geographic coordinate system environment to obtain the initial posture and position of the component.

[0023] Step 5) Calculate the component posture and position through the algorithm; By comparing the real-time GNSS antenna coordinates (G1, G2, G3) with the coordinates of the GNSS antenna in the target geographic coordinate system environment (Gg1, Gg2, Gg3), the hoisting is guided until (G1, G2, G3) coincide with (Gg1, Gg2, Gg3).

[0024] In this example, the present invention guides the entire hoisting process, accurately connecting the part to be hoisted (A4 segment) with the existing part (A1A2A3 segments), and the speed is greatly improved compared to previous hoisting projects.

[0025] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A method for real-time positioning and determination of the spatial posture of a complex component, characterized in that: The following steps are involved: 1) Register the design model to the design installation location: According to the on-site hoisting situation, the hoisted part on site is used as a known on-site reference object. Through on-site measurement, the hoisted part on site is matched with the hoisted part model in the design model to obtain the rotation and translation parameters of the hoisted part model to the on-site geographic coordinate system; The rotation and translation parameters are used to transform the overall design model into the on-site geographic coordinate system so that the position and posture of the overall design model match the on-site coordinate system; 2) Based on the registered overall design model, obtain the target feature points after the component to be hoisted is hoisted. The target feature points are key identification points for the component to be installed in place. 3) Select three non-collinear points on the structure to be hoisted as GNSS antenna installation points, and install the GNSS device on the structure to be hoisted; 4) Calculate the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place; 5) The real-time GNSS antenna coordinates are used to obtain the real-time posture and position of the component to be hoisted, guide the hoisting of the component to be hoisted, and complete the hoisting of the component to be hoisted.

2. The method for real-time positioning and determining the spatial posture of a complex component according to claim 1, characterized in that: In step 4), the coordinates of the GNSS antenna on the component to be hoisted are calculated after the component is installed in place, as follows: 4.1) Measure the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of three selected feature points (M1, M2, M3) on the component to be hoisted; 4.2) Based on the target characteristic points of the component to be hoisted obtained in step 3), obtain three characteristic points (Mg1, Mg2, Mg3) of the component to be hoisted on the overall model adjusted to the on-site geographic coordinate system; 4.3) Based on the correspondence between (M1, M2, M3) and (Mg1, Mg2, Mg3), and the relationship between the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of three selected feature points on the component to be hoisted, calculate the coordinates of the GNSS antenna in the target geographic coordinate system (Gg1, Gg2, Gg3).

3. The method for real-time positioning and determining the spatial posture of a complex component according to claim 1, characterized in that: In step 5), the real-time posture and position of the component to be hoisted are obtained by using the real-time GNSS antenna coordinates to guide the hoisting of the component to be hoisted; specifically, the following steps are performed: 5.1) Unified Coordinate System: Convert the WGS84 coordinate system measured by GNSS to the on-site engineering coordinate system in real time to ensure that the coordinate system of the antenna position is consistent with the on-site point cloud and the overall design model; 5.2) Calculate the motion transformation of the component based on the difference between the real-time coordinates and the coordinates at the previous moment, and obtain the transformation matrix of the displacement and posture of the component in real time and at the previous moment. Use this transformation matrix to drive the 3D visualization model, so that the motion of the components in the 3D visualization model is completely consistent with the on-site components. 5.3) Calculate the coordinates of the target feature points and determine whether the component has reached the final installation position based on the deviation between the real-time coordinates and the final target coordinates of the current hoisted component; 5.4) By comparing the plane angle deviation between the real-time coordinates and the final target coordinates of the currently hoisted component and the design plane angle, it is determined whether the component posture meets the design requirements and further whether the hoisting is in place.

4. The method for real-time positioning and determining the spatial posture of a complex component according to claim 3 is characterized in that: In the step 5), the hoisting of the component to be hoisted is completed by comparing the real-time GNSS antenna coordinates (G1, G2, G3) with the coordinates of the GNSS antenna in the target geographic coordinate system environment (Gg1, Gg2, Gg3) until (G1, G2, G3) coincide with (Gg1, Gg2, Gg3).

5. The method for real-time positioning and determining the spatial posture of a complex component according to claim 1, characterized in that: In step 3), the three antenna installation points are spatially distributed in an equilateral triangle.

6. The method for real-time positioning and determining the spatial posture of a complex component according to claim 1, characterized in that: In step 3), the three antenna installation points are the three corner points of the component, forming a monitoring surface.

7. An electronic device, characterized in that: include: one or more processors; as well as a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are enabled to perform the method according to any one of claims 1 to 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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