A method for real-time positioning and determination of the spatial pose of a complex component

Abstract

The application discloses a kind of complex component space posture real-time positioning determination method, comprising the following steps: 1) design model is registered to design installation position:2) according to the overall design model after registration, obtain the target feature point after hoisting completion of hoisting component;The target feature point is the key identification point of component installation in place;3) select 3 not collinear points as GNSS antenna installation point on hoisting component, and install GNSS equipment on hoisting component;4) calculate the coordinates of GNSS antenna on hoisting component after component installation in place;5) obtain the posture and position of real-time hoisting component by real-time GNSS antenna coordinates, guide hoisting to carry out hoisting component, complete hoisting of hoisting component.The application can calculate the aerial posture and position of component in real time during hoisting, and can effectively guide hoisting process.

Description

TECHNICAL FIELD

[0001] The present application relates to component space positioning technology, and in particular to a complex component space posture real-time positioning determination method. BACKGROUND

[0002] In current engineering construction, the engineering condition of needing to splice two different complex components in the air is often encountered. In this case, the usual practice is to send people to the site for observation and command through devices or equipment, but this will threaten the safety of the people and also cannot effectively command the ground control splicing component equipment, resulting in the need to spend a lot of time adjusting the posture and position of the component to the designed position. Modern hoisting technology introduces hydraulic systems, motor drives, and precision control systems, improving the precision and efficiency of hoisting. These technologies include tower cranes, truck cranes, excavator booms, etc., as well as automation control systems such as PLC (Programmable Logic Controller) and CNC (Computer Numerical Control) technology, which have been widely used in manufacturing and engineering fields for control and automation of equipment operation. These systems provide higher precision and repeatability. At this time, how to accurately obtain the posture and position of the component in the air in real time becomes an object of study. SUMMARY

[0003] The technical problem solved by the present application is to provide a complex component space posture real-time positioning determination method in view of the defects in the prior art.

[0004] The technical scheme adopted by the present application to solve its technical problem is: a complex component space posture real-time positioning determination method, comprising the following steps:

[0005] 1) Register the design model to the design installation position:

[0006] According to the hoisting situation on site, the hoisted part on site is taken as a known on-site reference, and 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;

[0007] The RT parameters are used to convert the overall design model into the on-site geographic coordinate system, so that the position and posture of the overall design model are matched with the actual environment on site;

[0008] 2) According to the registered overall design model, obtain the target feature points after the hoisting of the to-be-hoisted component is completed; the target feature points are key identification points of the component installation in place;

[0009] 3) Select three non-collinear points on the to-be-hoisted component as GNSS antenna installation points, and install the GNSS device on the to-be-hoisted component;

[0010] 4) Calculate the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place;

[0011] 5) Obtain the real-time attitude and position of the component to be hoisted through the real-time GNSS antenna coordinates, guide the hoisting of the component to be hoisted, and complete the hoisting of the component to be hoisted.

[0012] According to the above scheme, in step 4), the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place are calculated, and the specific steps are as follows:

[0013] 4.1) Measure the coordinates of the GNSS antenna (G1, G2, G3) on the component to be hoisted and the coordinates of the three selected feature points (M1, M2, M3) on the component to be hoisted;

[0014] 4.2) Obtain the three feature points (Mg1, Mg2, Mg3) of the component to be hoisted on the overall model adjusted to the local geographic coordinate system according to the target feature points obtained in step 3) after the hoisting of the component to be hoisted is completed;

[0015] 4.3) According to the corresponding relationship of (M1, M2, M3) and (Mg1, Mg2, Mg3), and the coordinate relationship of the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the three selected feature points on the component to be hoisted, calculate the coordinates (Gg1, Gg2, Gg3) of the GNSS antenna in the target geographic coordinate system environment.

[0016] According to the above scheme, in step 5), the real-time attitude and position of the component to be hoisted are obtained through the real-time GNSS antenna coordinates, and the hoisting of the component to be hoisted is guided; the specific steps are as follows:

[0017] 5.1) Unified coordinate system: convert the WGS84 coordinate system measured by GNSS to the engineering coordinate system on site in real time, to ensure that the coordinate system of the antenna position is consistent with the point cloud and the overall design model on site;

[0018] 5.2) Calculate the motion transformation of the component through the difference between the real-time coordinates and the coordinates at the previous moment, obtain the transformation matrix of the displacement and attitude of the component between the real-time calculation and the previous moment, and drive the three-dimensional visualization model through the transformation matrix, so that the motion of the component of the three-dimensional visualization model is completely consistent with the motion of the component on site;

[0019] 5.3) Calculate the target feature point coordinates, and judge whether the component has reached the final installation position through the deviation between the real-time coordinates and the final target coordinates of the hoisted component;

[0020] 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 can be determined whether the component's posture meets the design requirements, and further determine whether the hoisting is in place.

[0021] According to the above scheme, in step 5), the hoisting of the component to be hoisted is to compare the real-time obtained GNSS antenna coordinates (G1, G2, G3) with the GNSS antenna coordinates (Gg1, Gg2, Gg3) in the target geographic coordinate system environment until (G1, G2, G3) coincides with (Gg1, Gg2, Gg3).

[0022] According to the above scheme, in step 3), the three antenna installation points are spatially distributed in an equilateral triangle.

[0023] According to the above scheme, in step 3), the three antenna mounting points are the three corner points of the component, forming a monitoring surface.

[0024] The beneficial effects of this invention are:

[0025] 1. This invention calculates the aerial attitude and position of the entire component to be hoisted by using the relatively easy-to-measure antenna coordinates, thus avoiding the need to measure the relatively difficult-to-measure coordinates of connection points.

[0026] 2. This 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 its relative distance to the target position, it can effectively guide the hoisting process, avoid the safety hazards caused by personnel visually observing the aerial component, and accurately connect the part to be hoisted to the existing part, which can effectively improve the speed of the hoisting project. At the same time, it has the advantages of high precision and low cost. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0028] Figure 1 This is a flowchart of a method according to an embodiment of the present invention;

[0029] Figure 2 This is a flowchart of a method according to an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] like Figure 1 As shown, a method for real-time spatial attitude determination of complex components includes the following steps:

[0032] 1) Register the design model to the design installation location:

[0033] Based on the on-site hoisting situation, the already hoisted part is used as a known on-site reference object. Through on-site measurement, the already hoisted part is matched with the already hoisted part model in the design model to obtain the rotation (R) and translation (T) parameters of the already hoisted part model to the on-site geographic coordinate system.

[0034] Using the RT parameter, the overall design model is transformed into the on-site geographic coordinate system, so that the position and orientation of the overall design model correspond and match the actual on-site environment;

[0035] 2) Scan the 3D point cloud of the hoisted part on site, and verify the accuracy of the model by comparing the overlap between the design model and the point cloud; if the deviation exceeds the threshold, the model is corrected.

[0036] In the positioning process of component hoisting, ICP (Iterative Closest Point Algorithm) is one of the core technologies for achieving accurate registration between the design model and the on-site scanned point cloud. It iteratively calculates the optimal rotation and translation transformation between two point sets (design model point cloud and on-site scanned point cloud) to maximize their spatial overlap, thereby achieving precise alignment of the coordinate system or verifying the consistency between the model and the site.

[0037] 3) Based on the overall design model after registration, obtain the target feature points of the components to be hoisted after hoisting is completed; the target feature points are the key markers for the components to be installed in place;

[0038] 4) Select three non-collinear points on the component to be hoisted as GNSS antenna mounting points, and install the GNSS equipment onto the component;

[0039] Three GNSS devices are installed at three corner points of the prefabricated component to form a monitoring surface, simultaneously monitoring its position and attitude. The three points are spatially distributed in an equilateral triangle.

[0040] 5) Calculate the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place;

[0041] Specifically as follows:

[0042] 5.1) Measure the coordinates (G1, G2, G3) of the GNSS antenna on the component to be hoisted and the coordinates (M1, M2, M3) of three selected feature points (vertex or base) on the component to be hoisted.

[0043] 5.2) Based on the target feature points of the component to be hoisted after hoisting is completed, obtained in step 3), obtain three feature points (Mg1, Mg2, Mg3) of the component to be hoisted on the overall model that has been adjusted to the site geographic coordinate system.

[0044] 5.3) Based on the correspondence between (M1, M2, M3) and (Mg1, Mg2, Mg3), and the coordinate relationship between the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of the three selected feature points on the component to be hoisted, calculate the coordinates (Gg1, Gg2, Gg3) of the GNSS antenna in the target geographic coordinate system environment.

[0045] 6) By obtaining the real-time GNSS antenna coordinates (G1, G2, G3), the attitude and position of the component to be hoisted are obtained in real time, which guides the hoisting of the component. The real-time GNSS antenna coordinates (G1, G2, G3) are compared with the coordinates of the GNSS antenna in the target geographic coordinate system (Gg1, Gg2, Gg3) until (G1, G2, G3) coincides with (Gg1, Gg2, Gg3), and the hoisting of the component to be hoisted is completed.

[0046] In step 6), the attitude and position of the component to be hoisted are obtained in real time using the GNSS antenna coordinates (G1, G2, G3), as detailed below:

[0047] 6.1) Unified coordinate system: The WGS84 coordinate system of GNSS measurements is transformed to the engineering coordinate system on site 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;

[0048] GNSS defaults to outputting the WGS84 coordinate system (geocentric coordinate system, used for global positioning), while construction sites typically use an engineering coordinate system, established based on the site terrain or design requirements, which is consistent with the coordinate system of the scanned point cloud and design model, requiring coordinate unification; this embodiment uses a four-parameter coordinate transformation.

[0049] 6.2) By calculating the difference between the real-time coordinates and the coordinates of the previous moment, the motion transformation of the component is obtained, and the transformation matrix of the displacement and attitude of the component in real time and the previous moment is obtained. The transformation matrix is ​​used to drive the three-dimensional visualization model so that the motion of the component in the three-dimensional visualization model is completely consistent with the motion of the component on site.

[0050] 6.3) Calculate the coordinates of the target feature points, and determine whether the component has reached the final installation position by the deviation between the real-time coordinates and the final target coordinates of the currently hoisted component;

[0051] 6.4) 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 can be determined whether the component's posture meets the design requirements, and further determine whether the hoisting is in place.

[0052] Example 2:

[0053] The A4 segment hoisting of the "Pearl of Optics Valley" project. This project is an all-steel frame structure with an outer stainless steel skin. During the hoisting of the A4 segment, it was necessary to add a total station and GPS antenna to track and simulate the hoisting process and to verify the hoisting position information. At the same time, since the structure is hoisted in segments, the coordinates of the connection points are difficult to measure directly. Therefore, a calculation method is needed to convert the geographical location of other parts of the component into the location of the connection point in real time to ensure that the position and attitude of the hoisted object reach the expected level. Our designed real-time spatial attitude positioning calculation method for complex components just meets all the requirements.

[0054] The specific operation method of this embodiment is as follows: Figure 2 As shown:

[0055] Step 1) Register the design model to the design installation location;

[0056] 1.1) Remove the model of the already hoisted portion (A1A2A3);

[0057] 1.2) Register the model of the hoisted parts (A1A2A3) with the site using ICP and on-site scanning point cloud;

[0058] 1.3) Obtain the RT matrix of the hoisted part of the model to the on-site geographic coordinate system;

[0059] 1.4) Transform the complete design model to the on-site geographic coordinate system using the RT matrix;

[0060] Step 2) Obtain the estimated coordinates of the module to be hoisted after hoisting is completed;

[0061] The accuracy of the model was verified by comparing three feature points at the bottom of segment A4 (top of segment A3) in the 3D point cloud obtained from the on-site scanning with three feature points in the registered overall model. 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;

[0065] Step 3) Determine the installation location of the GPS antenna to be hoisted;

[0066] Choose a suitable location on the hoisted object to install the GPS antenna. Note that the three points should not be on the same straight line. Also, ensure that the GPS antenna is facing upwards and does not come into contact with, collide with, or obstruct other parts of the structure.

[0067] Step 4) Measure the target position of the GPS antenna of the part to be hoisted;

[0068] 4.1) Measure the coordinates of the unmounted GPS antenna (G1, G3, G3) and the coordinates of the three characteristic points (vertex or base) of the tower and beam (M1, M2, M3) using equipment such as RTK, total station, and scanner.

[0069] 4.2) In the design model under the pre-registered target geographic coordinate system, obtain the coordinates of the corresponding model feature points (Mg1, Mg2, Mg3).

[0070] 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 attitude and position of the component.

[0071] Step 5) Calculate the component's attitude and position using an algorithm;

[0072] By comparing the real-time GNSS antenna coordinates (G1, G2, G3) with the GNSS antenna coordinates (Gg1, Gg2, Gg3) in the target geographic coordinate system environment, the hoisting process is guided until (G1, G2, G3) coincides with (Gg1, Gg2, Gg3).

[0073] In this example, the present invention provides guidance for the entire hoisting process, accurately connecting the part to be hoisted (A4 segment) with the existing part (A1A2A3 segments), resulting in a significant improvement in speed compared to previous hoisting projects.

[0074] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for real-time spatial attitude determination of complex components, characterized in that, Includes the following steps: 1) Register the design model to the design installation location: Based on the on-site hoisting situation, the already hoisted part is used as a known on-site reference. Through on-site measurement, the already hoisted part is matched with the already hoisted part model in the design model to obtain the rotation and translation parameters of the already hoisted part model to the on-site geographic coordinate system. Using these rotation and translation parameters, the overall design model is transformed into the on-site geographic coordinate system, so that the position and orientation of the overall design model match the on-site location. 2) Based on the overall design model after registration, obtain the target feature points after the hoisting of the components to be hoisted is completed; The target feature points are key markers indicating that the components are installed in place. 3) Select three non-collinear points on the component to be hoisted as GNSS antenna mounting points, and install the GNSS equipment onto the component; 4) Calculate the coordinates of the GNSS antenna on the component to be hoisted after the component is installed in place; 5) By obtaining the real-time GNSS antenna coordinates, the attitude and position of the component to be hoisted are acquired, guiding the hoisting process and completing the hoisting of the component; specifically as follows: 5.1) Unified coordinate system: The WGS84 coordinate system of GNSS measurements is transformed to the engineering coordinate system on site 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) By calculating the difference between the real-time coordinates and the coordinates of the previous moment, the motion transformation of the component is obtained, and the transformation matrix of the displacement and attitude of the component in real time and the previous moment is obtained. The transformation matrix is ​​used to drive the three-dimensional visualization model so that the motion of the component in the three-dimensional visualization model is completely consistent with the motion of the component on site. 5.3) Calculate the coordinates of the target feature points, and determine whether the component has reached the final installation position by the deviation between the real-time coordinates and the final target coordinates of the currently 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 can be determined whether the component's posture meets the design requirements, and further determine whether the hoisting is in place.

2. The method for real-time spatial attitude determination of complex components 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 coordinates (G1, G2, G3) of the GNSS antenna on the component to be hoisted and the coordinates (M1, M2, M3) of the three selected feature points on the component to be hoisted. 4.2) Based on the target feature points of the component to be hoisted obtained in step 2), obtain three feature points (Mg1, Mg2, Mg3) of the component to be hoisted on the overall model that has been adjusted to the site geographic coordinate system. 4.3) Based on the correspondence between (M1, M2, M3) and (Mg1, Mg2, Mg3), and the coordinate relationship between the GNSS antenna coordinates (G1, G2, G3) on the component to be hoisted and the coordinates of the three selected feature points on the component to be hoisted, calculate the coordinates (Gg1, Gg2, Gg3) of the GNSS antenna in the target geographic coordinate system environment.

3. The method for real-time spatial attitude determination of complex components according to claim 1, characterized in that, In step 5), the hoisting of the component to be hoisted is completed by comparing the real-time obtained GNSS antenna coordinates (G1, G2, G3) with the GNSS antenna coordinates (Gg1, Gg2, Gg3) in the target geographic coordinate system environment until (G1, G2, G3) coincides with (Gg1, Gg2, Gg3).

4. The method for real-time spatial attitude determination of complex components according to claim 1, characterized in that, In step 3), the three antenna mounting points are spatially distributed in an equilateral triangle.

5. The method for real-time spatial attitude determination of complex components according to claim 1, characterized in that, In step 3), the three antenna mounting points are the three corner points of the component, forming a monitoring surface.

6. An electronic device, characterized in that, include: One or more processors; as well as Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 5.

Images