A positioning guide system and a positioning guide method for a vehicle and a bridge floor member

Abstract

The application relates to the technical field of railway engineering construction, and particularly discloses a positioning and guiding system and a positioning and guiding method for a vehicle and a bridge floor system component, the positioning and guiding system comprising: a component transport vehicle; a portal crane device comprising a walking mechanism and a hoisting mechanism, the hoisting mechanism comprising a lifting tool mechanism; a laser radar group; an upper computer in communication with a vehicle controller, the laser radar group and the hoisting mechanism; the upper computer is used for acquiring data of the laser radar group, identifying a positioned and guided component transport vehicle, communicating with the vehicle controller to guide accurate parking to a specified area, identifying coordinate information of the bridge floor system component, controlling the lifting tool mechanism to move to directly above according to the coordinate information, and further controlling the hoisting mechanism to move the hoisted bridge floor system component to the lateral bridge direction of the bridge floor and lower the bridge floor system component. The positioning and guiding system and method solve the technical problems of high labor cost, poor alignment efficiency and low construction efficiency in the prior art.

Description

Technical Field

[0001] This application relates to the field of railway engineering construction technology, specifically to a positioning and guidance system and method for vehicle and bridge deck components. Background Technology

[0002] Currently, the Beijing-Xiong'an Intercity Railway was the first to use prefabricated bridge deck components (horizontally laid concrete components adjacent to the bridge deck guardrails) and pre-installed cable troughs, replacing the previous cast-in-place AB walls. In the following years, the Fuzhou-Xiamen High-Speed ​​Railway and the Guiyang-Nanning High-Speed ​​Railway adopted and promoted this technology. According to the requirements of China State Railway Group's Intelligent High-Speed ​​Railway 2.0, the Chengdu-Chongqing Central Line, as a test line for speeds of 400 km / h, will adopt prefabricated assembly for its entire bridge deck system, achieving industrialized assembly. Previously, cast-in-place bridge deck components required a large amount of embedded steel bars on both sides of the transverse bridge. Now, with prefabricated components, only a small amount of steel bars needs to be reserved in the contact wire columns, i.e., the anchor wire foundations. After the change from cast-in-place to prefabricated bridge deck components, the beam surface becomes a smooth slab beam, increasing the vehicle's driving space.

[0003] In related technologies, after the bridge deck components are replaced with precast bridge deck components, the existing construction method uses a truck-mounted crane to transport the bridge deck components by transport vehicle, and then the crane is manually operated to lift the bridge deck components to both sides of the bridge deck.

[0004] However, the existing construction method requires at least three people to work together: one to operate the crane, one to operate the transport vehicle, and one to assist in lifting and lowering the vehicle. When coordinating with each other, the crane remains stationary while the three workers shout loudly to move the transport vehicle to the appropriate position. This results in high labor costs, the transport vehicle may need to be moved and adjusted repeatedly, poor alignment efficiency, and low construction efficiency for laying bridge deck components. Summary of the Invention

[0005] This application provides a positioning and guidance system and method for vehicles and bridge deck components, which solves the technical problems of high labor costs, poor alignment efficiency and low construction efficiency in the prior art.

[0006] In a first aspect, embodiments of this application provide a positioning and guidance system for vehicles and bridge deck components, comprising: a component transport vehicle for loading a plurality of bridge deck components, which has a vehicle controller; A gantry crane device includes a traveling mechanism for traveling along the longitudinal direction of the bridge and a hoisting mechanism for lifting, moving and lowering the bridge deck system components, the hoisting mechanism including a lifting device mechanism; A lidar array, which is installed on the gantry crane device; The host computer communicates with the vehicle controller, the lidar group, and the hoisting mechanism. The host computer is used to acquire data from the lidar group, identify and locate the approaching component transport vehicle, and communicate with the vehicle controller to guide it to park precisely in a designated area. It is also used to identify the coordinate information of the bridge deck components, control the hoisting mechanism to move to the top according to the coordinate information, and control the hoisting mechanism to move the hoisted bridge deck components to the transverse sides of the bridge deck and lower the bridge deck components.

[0007] In conjunction with the first aspect, in one embodiment, the gantry crane further includes a main beam, the height of which is a predetermined distance above the height of a predetermined number of bridge deck system components loaded by the component transport vehicle.

[0008] In conjunction with the first aspect, in one embodiment, the main beam is a rectangular frame, and the lidar group includes at least two 3D lidars, all of which are mounted on the main beam. All 3D LiDARs are used to learn the model of the component transport vehicle and bridge deck components in advance, and transmit the 3D data to the host computer when the component transport vehicle carrying several bridge deck components approaches the gantry crane. The host computer identifies and locates the component transport vehicle and bridge deck components.

[0009] In conjunction with the first aspect, in one implementation, each 3D LiDAR is mounted on the main beam via an angle-adjustable bracket, and the scanning area of ​​all the 3D LiDARs combined completely covers the rectangular operating area of ​​the hoisting mechanism. The angle adjustment bracket is divided into a fixed part and a rotating part. The fixed part is fixed to the main beam, and the 3D laser radar is installed on the rotating part. The rotating part is rotatably installed on the fixed part by rotating bolts and is also fixed by fixing bolts.

[0010] In conjunction with the first aspect, in one embodiment, the hoisting mechanism includes a trolley frame, a lifting mechanism, a hoisting mechanism, and a trolley traveling mechanism. The trolley frame is transversely mounted on the main beam along the longitudinal direction of the bridge and slides along the transverse direction of the bridge under the action of the trolley traveling mechanism. The lifting mechanism is movable along the longitudinal direction of the bridge and mounted on the hoisting mechanism via several steel wire ropes. The hoisting mechanism is mounted on the trolley frame.

[0011] In conjunction with the first aspect, in one embodiment, the component transport vehicle is further equipped with an LED display screen and a voice broadcaster; the host computer transmits the positioning information of the component transport vehicle to the vehicle controller, and the vehicle controller issues prompt information through the LED display screen and the voice broadcaster.

[0012] Secondly, embodiments of this application provide a positioning guidance method based on the above-mentioned positioning guidance system for vehicles and bridge deck components, comprising the following steps: As the component transport vehicle approaches the gantry crane, the lidar group identifies and locates the component transport vehicle. The lidar group transmits the acquired 3D data to the host computer, which then issues a prompt message through the vehicle controller to guide the component transport vehicle to park precisely in the designated area. The host computer identifies the coordinate information of the bridge deck components through the lidar group, and controls the hoisting mechanism to adjust the lifting device to move directly above the coordinate information based on the coordinate information. The automatic lowering mechanism connects the bridge deck components to the lifting mechanism via hooks; The automatic lifting hoist mechanism moves to both sides of the bridge deck in the transverse direction, lowers the bridge deck components, and releases them; Continue to align, lower, hook, raise, move to both sides of the transverse bridge according to the coordinate information of the next bridge deck component, until the lifting work of all bridge deck components of the component transport vehicle is completed.

[0013] In conjunction with the second aspect, in one embodiment, the positioning guidance method further includes an initial lidar group installation step, which includes: Install all 3D LiDARs of the LiDAR group on the main beam of the gantry crane. After the communication is debugged, observe the point cloud data of all 3D LiDARs through the host computer and adjust the installation angle of the 3D LiDARs until the scanning area of ​​the two partially overlapping and combined 3D LiDARs completely covers the rectangular working area of ​​the hoisting mechanism.

[0014] In conjunction with the second aspect, in one embodiment, the lidar group identifies and locates the component transport vehicle and identifies the coordinate information of the bridge deck components, including: Clustering and segmentation are performed on the point cloud data after removing redundant point clouds from non-lifting equipment operation areas; Based on the set vehicle model, the host computer performs template matching on the segmented point cloud subset to determine whether the component transport vehicle has entered the lifting device operation area. After successful matching, it sends a successful matching signal to the vehicle controller, issues a prompt message, and guides the component transport vehicle to park precisely in the designated area. After the vehicle stops, the host computer performs clustering and segmentation on the point cloud data, obtains the location of the prefabricated bridge deck components based on the set prefabricated bridge deck component model, establishes a topology map of the prefabricated bridge deck components, and sends the location coordinates of the prefabricated bridge deck components to the vehicle controller in sequence.

[0015] In conjunction with the second aspect, in one embodiment, before the component transport vehicle approaches the gantry crane (100) after the lidar group has been installed, the following further includes: First, calibrate the extrinsic parameters of the lidar, then calibrate the extrinsic parameters of the lidar and the hoisting mechanism to obtain the transformation relationship between the lidar coordinate system and the hoisting mechanism coordinate system.

[0016] The beneficial effects of the technical solutions provided in this application include: 1. The positioning and guidance system for vehicles and bridge deck components of this application integrates the communication between the component transport vehicle, the lidar group, and the hoisting mechanism of the gantry crane. The host computer receives data from the lidar group to identify and locate the component transport vehicle and bridge deck components, and uses this data to communicate with the vehicle controller to guide the vehicle to a precise parking area. Based on the coordinate information of the bridge deck components, the system controls the hoisting mechanism to move directly above the components. This significantly improves the accuracy of the hoisting device's alignment and greatly enhances alignment efficiency. Furthermore, this positioning and guidance system requires only one worker for manual hooking and unhooking, reducing the number of workers and repetitive labor, greatly lowering labor costs, and effectively improving the construction efficiency of automated paving. It solves the positioning and guidance problem during the approach of the component transport vehicle and addresses the technical problems of high labor costs, poor alignment efficiency, and low construction efficiency in existing technologies.

[0017] 2. The positioning and guidance method for vehicles and bridge deck components in this application, based on data processing by a host computer, integrates the vehicle controller of the component transport vehicle, the hoisting mechanism of the gantry crane, and the lidar group. It can perform operations such as direct alignment, lowering, hooking, raising, moving to both sides of the transverse bridge, lowering and unhooking of each bridge deck component one by one, until the hoisting of all bridge deck components of the component transport vehicle is completed. This can significantly improve the positioning accuracy of the lifting equipment, greatly improve the positioning efficiency, reduce the number of workers and repetitive labor, greatly reduce labor costs, and effectively improve the construction efficiency of automated paving. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the gantry crane device provided in the embodiments of this application; Figure 2 A schematic diagram illustrating the passage of the gantry crane device for beam transport vehicles and box girders in this application; Figure 3 A schematic diagram of the angle adjustment bracket provided in an embodiment of this application; Figure 4 A flowchart of the positioning guidance method provided in the embodiments of this application; Reference numerals: 100, gantry crane device; 1, trolley frame; 2, lifting mechanism; 3, trolley drive wheel assembly; 4, trolley driven wheel assembly; 5, hoisting mechanism; 6, main beam; 7, trolley traveling mechanism; 8, lidar mounting position; 9, curved boom structure; 10, bridge deck components; 20. Angle adjustment bracket; 201. Fixing component; 202. Rotating component; 203. Rotating bolt; 204. Fixing bolt. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] This application provides a positioning and guidance system for vehicles and bridge deck components, which solves the technical problems of high labor costs, poor alignment efficiency, and low construction efficiency in the prior art.

[0021] Specifically, such as Figure 1 The bridge deck component 10 shown is located on the bridge deck (i.e., the upper surface of the box girder) near the bridge deck guardrail.

[0022] like Figure 1 and Figure 2 As shown, this application discloses a positioning and guidance system for vehicles and bridge deck components. The positioning and guidance system includes a component transport vehicle, a gantry crane 100, a lidar group, and a host computer.

[0023] The component transport vehicle is used to load several bridge deck system components 10 and to transport mobile bridge deck system components 10. The component transport vehicle has a vehicle controller.

[0024] The gantry crane 100 includes a traveling mechanism and a hoisting mechanism. The traveling mechanism is mainly used for traveling along the longitudinal direction of the bridge, while the hoisting mechanism is used for lifting, moving, and lowering the bridge deck components 10. A lidar array is installed on the gantry crane 100. The hoisting mechanism includes a lifting device 2, which is a structure directly connected to the bridge deck components 10.

[0025] The host computer communicates with the vehicle controller, the lidar array, and the hoisting mechanism. The host computer acquires data from the lidar array, identifies and locates the approaching component transport vehicle carrying several bridge deck components 10, and communicates with the vehicle controller in real time to guide the component transport vehicle to accurately park in the designated area.

[0026] The host computer is used to identify the coordinate information of the bridge deck system component 10, control the lifting mechanism 2 to move to the top of the bridge deck system component 10 according to the coordinate information, and also to control the hoisting mechanism to move the bridge deck system component 10 after it has been lifted by the hook to the transverse sides of the bridge deck and lower the bridge deck system component 10.

[0027] Specifically, in one example, the bridge deck components 10 loaded on the component transport vehicle consist of three piles, each pile having two layers, i.e., two bridge deck components 10. The hoisting sequence starts with the bridge deck components 10 on top of the pile adjacent to the rear of the vehicle, and the first hoisting is the bridge deck components 10 on the bottom of the pile adjacent to the rear of the vehicle, and so on, moving towards the front of the vehicle for hoisting.

[0028] Specifically, after the hoisting mechanism moves to the top according to the coordinate information of the bridge deck component 10, it lowers the hook, and the hook is manually threaded before being automatically lifted.

[0029] Specifically, the designated area for guiding precise parking refers to the bridge deck component 10 closest to the rear of the component transport vehicle being directly below the main beam of the gantry crane device 100, i.e., within the lifting range of the lifting mechanism.

[0030] Specifically, since the gantry crane 100 is an ultra-large structure that is inconvenient to move and costly, a mobile component transport vehicle is preferred over the gantry crane 100.

[0031] The positioning and guidance system for vehicles and bridge deck components of this application integrates the communication between the component transport vehicle, the lidar group, and the hoisting mechanism of the gantry crane 100. The host computer receives data from the lidar group to identify and locate the component transport vehicle and the bridge deck component 10, and uses this data to communicate with the vehicle controller to guide the vehicle to a precise parking area. Based on the coordinate information of the bridge deck component 10, the system controls the hoisting mechanism to move directly above the bridge deck component 10. This significantly improves the accuracy of the hoisting device's alignment and greatly enhances alignment efficiency. Furthermore, the positioning and guidance system of this application requires only one worker for manual hooking and unhooking, reducing the number of workers and repetitive labor, greatly lowering labor costs, and effectively improving the construction efficiency of automated paving. It solves the positioning and guidance problem during the approach of the component transport vehicle and also addresses the technical problems of high labor costs, poor alignment efficiency, and low construction efficiency in existing technologies.

[0032] Preferably, the lidar group uses two 3D lidars, which partially overlap and cover the rectangular operating area of ​​the hoisting mechanism.

[0033] In one embodiment, the gantry crane 100 further includes a main beam 6, the height of which is set at a distance relative to the height of a predetermined number of bridge deck system components 10 loaded by the component transport vehicle.

[0034] Specifically, the actual structure of the gantry crane 100 is extremely large, and it can allow a set number of bridge deck components 10 to pass through when loaded onto a component transport vehicle, and it can also allow a beam transport vehicle to transport box girders to pass through.

[0035] In one embodiment, the main beam 6 is a rectangular frame, and the lidar group includes at least two 3D lidars, all of which are mounted on the main beam 6.

[0036] All 3D LiDARs are used to learn the model of the component transport vehicle and the bridge deck system components 10 in advance. When the component transport vehicle carrying several bridge deck system components 10 approaches the gantry crane device 100, it transmits the 3D data to the host computer. The host computer identifies and locates the component transport vehicle and the bridge deck system components 10, and transmits the positioning structure to the vehicle controller of the component transport vehicle.

[0037] Specifically, the rectangular frame has several lidar mounting positions 8, and 3D lidars are installed in the lidar mounting positions 8.

[0038] like Figure 3 As shown, in one embodiment, each 3D LiDAR is mounted on the main beam 6 via an angle adjustment bracket 20, and the scanning area of ​​all the 3D LiDARs combined completely covers the rectangular operating area of ​​the hoisting mechanism.

[0039] The angle adjustment bracket 20 is divided into a fixed part 201 and a rotating part 202. The fixed part 201 is fixed to the main beam 6, and the 3D laser radar is installed on the rotating part 202. The rotating part 202 is rotatably installed on the fixed part 201 by rotating bolts 203 and is also fixed by fixing bolts 204.

[0040] Specifically, the rectangular operating area of ​​the hoisting mechanism cannot be fully covered by a single 3D LiDAR, so multiple 3D LiDARs are needed to form a LiDAR group, and the combined scan data is used for identification and positioning.

[0041] The rotating component 202 has through holes arranged in an arc shape at equal intervals. When the fixing bolt 204 is inserted into different through holes and matches the through holes of the fixing component 201, the 3D LiDAR presents different positions. The angle adjustment bracket 20 can realize the adjustment of the 3D LiDAR in a wide field of view of 180°.

[0042] In one embodiment, the walking mechanism includes two active walking wheel sets 3 and two driven walking wheel sets 4, with the active walking wheel sets 3 providing driving force.

[0043] The hoisting mechanism includes a trolley frame 1, a lifting mechanism 2, a hoisting mechanism 5, and a trolley traveling mechanism 7. The trolley frame 1 is transversely mounted on the main beam 6 along the longitudinal direction of the bridge, and the trolley frame 1 slides along the transverse direction of the bridge under the action of the trolley traveling mechanism 7. The lifting mechanism 2 is used to directly connect to the bridge deck system components 10. The lifting mechanism 2 is mounted on the hoisting mechanism 5 along the longitudinal direction of the bridge via several steel wire ropes. The hoisting mechanism 5 is mounted on the trolley frame 1.

[0044] The lifting mechanism 2 can move longitudinally under the action of the lifting mechanism 5, and move laterally under the action of the trolley frame 1 moving transversely along the main beam 6, so as to achieve lateral and longitudinal movement and achieve flexible positioning. It can always move directly above each bridge deck component of the component transport vehicle, and the positioning is efficient and accurate.

[0045] Specifically, the host computer communicates with the hoisting mechanism 5 and the trolley traveling mechanism 7 of the hoisting mechanism to control the lateral movement, longitudinal movement, hoisting and lowering of the lifting device mechanism 2.

[0046] In one embodiment, the traveling mechanism further includes two bent arm structures 9 on the left and right sides between itself and the main beam 6. The bent arm structures 9, the main beam 6, and the traveling mechanism form a travel space for the beam transport vehicle and the box girder to pass through (see...). Figure 2 ).

[0047] Furthermore, each bent arm structure 9 includes two obtuse-angled bent tubes connected by two horizontal connecting rods.

[0048] In the actual process of hoisting the bridge deck component 10, the bridge deck component 10 is lifted from the middle and lowered from both sides. Specifically, as follows: Figure 1 As shown, the horizontal connecting rods below the curved arm structure 9 are lowered to the outward-facing sides.

[0049] In one embodiment, the component transport vehicle is also equipped with an LED display screen and a voice announcer.

[0050] The host computer transmits the positioning information of the component transport vehicle to the vehicle controller. The vehicle controller then issues prompts via an LED display and a voice broadcaster. The display shows the forward and backward adjustment distances, prompting the driver to slow down and stop, ultimately guiding the vehicle to a precise stop in the designated area.

[0051] The vehicle and bridge deck component positioning and guidance system of this application integrates the system, and the upper computer transmits the information to the vehicle controller. The vehicle controller issues prompts through an LED display and a voice broadcaster, which can efficiently guide the vehicle to stop directly under the main beam 6.

[0052] like Figure 4 As shown, in a second aspect, this application discloses a positioning guidance method based on the above-mentioned vehicle and bridge deck system components positioning guidance system, comprising the following steps: As the component transport vehicle approaches the gantry crane 100, the lidar group identifies and locates the component transport vehicle. The lidar group transmits the acquired 3D data to the host computer, and the host computer issues a prompt message through the vehicle controller to guide the component transport vehicle to park precisely in the designated area. The host computer identifies the coordinate information of the bridge deck component 10 through the lidar group, and controls the hoisting mechanism to adjust the lifting device 2 to move directly above the coordinate information based on the coordinate information. The automatic lowering lifting mechanism 2 connects the bridge deck component 10 to the lifting mechanism 2 via a hook; The automatic lifting hoisting mechanism 2 moves to both sides of the bridge deck in the transverse direction, lowers the bridge deck component 10 and releases it; Continue to align, lower, hook, raise, move to both sides of the transverse bridge according to the coordinate information of the next bridge deck component 10, until the hoisting work of all bridge deck components 10 of the component transport vehicle is completed.

[0053] The positioning and guidance method for vehicles and bridge deck components disclosed in this application, based on data processing by a host computer, integrates the vehicle controller of the component transport vehicle, the lifting mechanism of the gantry crane 100, and the lidar group. It can perform operations such as direct alignment, lowering, hooking, raising, moving to both sides of the transverse bridge, lowering and unhooking of each bridge deck component 10 until the lifting work of all bridge deck components 10 of the component transport vehicle is completed. This method can significantly improve the positioning accuracy of the lifting equipment, greatly improve the positioning efficiency, reduce the number of workers and repetitive labor, significantly reduce labor costs, effectively improve the construction efficiency of automated paving, solve the positioning and guidance problem during the approach of the component transport vehicle, and also solve the technical problems of high labor costs, poor positioning efficiency, and low construction efficiency in the prior art.

[0054] Furthermore, in one embodiment, the positioning guidance method further includes an initial lidar group installation step before actual application. The lidar group installation step includes: All 3D LiDARs in the LiDAR group are installed on the main beam 6 of the gantry crane 100. After communication debugging is completed, the point cloud data of all 3D LiDARs are observed through the host computer. The installation angle of the 3D LiDARs is adjusted until the scanning areas of the two partially overlapping and combined 3D LiDARs completely cover the rectangular working area of ​​the hoisting mechanism. Only then is the LiDAR installation considered complete. Preferably, the lidar group uses two 3D lidars, which partially overlap and cover the rectangular operating area of ​​the hoisting mechanism.

[0055] Furthermore, in one embodiment, the lidar group identifies and positions the component transport vehicle and identifies the coordinate information of the bridge deck component 10, including: Clustering and segmentation are performed on the point cloud data after removing redundant point clouds from non-lifting equipment operation areas; Based on the set vehicle model, the host computer performs template matching on the segmented point cloud subset to determine whether the component transport vehicle has entered the lifting device operation area. After successful matching, it sends a successful matching signal to the vehicle controller, issues a prompt message, and guides the component transport vehicle to park precisely in the designated area. After the vehicle stops, the host computer performs clustering and segmentation on the point cloud data, obtains the location of the prefabricated bridge deck components based on the set prefabricated bridge deck component model, establishes a topology map of the prefabricated bridge deck components, and sends the location coordinates of the prefabricated bridge deck components to the vehicle controller in sequence.

[0056] Specifically, after obtaining the transformation relationship from the lidar coordinate system to the lifting device coordinate system, during actual application data processing, the host computer, upon receiving a frame of point cloud data, first removes redundant point clouds from non-lifting device operating areas and performs noise reduction processing to minimize unnecessary interference.

[0057] The positioning guidance method of the positioning guidance system for vehicles and bridge deck components of this application integrates data and processes it through specific steps to achieve guided parking and positioning of bridge deck components.

[0058] Furthermore, in one embodiment, before the component transport vehicle approaches the gantry crane 100 after the lidar group has been installed, the process further includes: First, the extrinsic parameters of the lidar are calibrated, and then the extrinsic parameters of the lidar and the hoisting mechanism are calibrated to obtain the transformation relationship between the lidar coordinate system and the hoisting mechanism coordinate system.

[0059] The calibration of the extrinsic parameters of the lidar includes: while keeping the lifting mechanism 2 horizontal, adjusting the position of the lifting mechanism 2 so that all 3D lidars can scan the lifting structure, then recording the lidar data and converting it into a format supported by the calibration tool, and using the calibration tool to calculate the extrinsic parameters of all lidars so as to achieve a unified coordinate system for all lidar data.

[0060] The external parameter calibration of the lidar and lifting mechanism includes: placing at least three precast bridge deck components 10 in the lifting device's operating area, manually operating the lifting device 2 to the correct position of each precast bridge deck component 10, recording the corresponding coordinate values ​​of the lifting device 2 in the lifting device coordinate system, recording point cloud data packets, segmenting the point set of each precast bridge deck component 10 from the point cloud data, calculating the center point coordinates of each precast bridge deck component 10 in the lidar coordinate system, thereby obtaining the transformation relationship from the lidar coordinate system to the lifting device coordinate system.

[0061] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0062] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A positioning and guidance system for vehicles and bridge deck components, characterized in that, Include: A component transport vehicle for loading several bridge deck components (10), which has a vehicle controller; The gantry crane (100) includes a traveling mechanism for traveling along the longitudinal direction of the bridge and a hoisting mechanism for lifting, moving and lowering the bridge deck components (10), the hoisting mechanism including a lifting device mechanism (2). A lidar array, which is installed on the gantry crane (100). The host computer communicates with the vehicle controller, the lidar group and the hoisting mechanism; the host computer is used to acquire data from the lidar group, identify and locate the approaching component transport vehicle, and communicate with the vehicle controller to guide it to park precisely in a designated area. It is also used to identify the coordinate information of the bridge deck component (10), control the hoisting mechanism (2) to move to the top according to the coordinate information, and control the hoisting mechanism to move the hoisted bridge deck component (10) to the transverse sides of the bridge deck and lower the bridge deck component (10).

2. The positioning and guidance system for vehicle and bridge deck components as described in claim 1, characterized in that: The gantry crane (100) also includes a main beam (6), the height of which is set at a distance relative to the height of a set number of bridge deck components (10) loaded by the component transport vehicle.

3. The positioning and guidance system for vehicle and bridge deck components as described in claim 2, characterized in that: The main beam (6) is a rectangular frame, and the lidar group includes at least two 3D lidars. All 3D lidars are installed on the main beam (6). All 3D LiDARs are used to machine learn the model of the component transport vehicle and the bridge deck components (10) in advance, and transmit the 3D data to the host computer when the component transport vehicle carrying several bridge deck components (10) approaches the gantry crane (100), the host computer identifies and locates the component transport vehicle and the bridge deck components (10).

4. The positioning and guidance system for vehicle and bridge deck components as described in claim 3, characterized in that: Each 3D lidar is mounted on the main beam (6) via an angle adjustment bracket (20), and the scanning area of ​​all the 3D lidars combined completely covers the rectangular working area of ​​the hoisting mechanism. The angle adjustment bracket (20) is divided into a fixed part (201) and a rotating part (202). The fixed part (201) is fixed to the main beam (6). The 3D laser radar is installed on the rotating part (202). The rotating part (202) is rotatably installed on the fixed part (201) by a rotating bolt (203) and is also fixed by a fixing bolt (204).

5. The positioning and guidance system for vehicle and bridge deck components as described in claim 3, characterized in that: The hoisting mechanism includes a trolley frame (1), a lifting mechanism (2), a hoisting mechanism (5), and a trolley traveling mechanism (7). The trolley frame (1) is mounted across the main beam (6) along the longitudinal direction of the bridge and slides along the transverse direction of the bridge under the action of the trolley traveling mechanism (7). The lifting mechanism (2) is mounted on the hoisting mechanism (5) by several steel wire ropes along the longitudinal direction of the bridge. The hoisting mechanism (5) is mounted on the trolley frame (1).

6. The positioning and guiding system for vehicle and bridge deck components as described in claim 1, characterized in that: The component transport vehicle is also equipped with an LED display screen and a voice broadcaster; The host computer transmits the positioning information of the component transport vehicle to the vehicle controller, and the vehicle controller issues prompts through an LED display and a voice broadcaster.

7. A positioning guidance method based on the positioning guidance system for vehicles and bridge deck components as described in claim 1, characterized in that, Includes the following steps: As the component transport vehicle approaches the gantry crane (100), the laser radar group identifies and locates the component transport vehicle. The laser radar group transmits the acquired 3D data to the host computer, and the host computer issues a prompt message through the vehicle controller to guide the component transport vehicle to park precisely in the designated area. The host computer identifies the coordinate information of the bridge deck components (10) through the laser radar group, and controls the hoisting mechanism to adjust the hoisting mechanism (2) to move directly above the coordinate information according to the coordinate information; Automatic lowering lifting mechanism (2) connects bridge deck components (10) to lifting mechanism (2) via hook; The automatic lifting hoisting mechanism (2) moves to both sides of the bridge deck in the transverse direction, lowers the bridge deck system component (10) and releases it; Continue to align, lower, hook, raise, move to both sides of the transverse bridge, lower and unhook according to the coordinate information of the next bridge deck component (10) until the lifting work of all bridge deck components (10) of the component transport vehicle is completed.

8. The positioning guidance method of the positioning guidance system for vehicles and bridge deck components as described in claim 7, characterized in that, The positioning guidance method further includes an initial lidar array installation step, which includes: Install all the 3D lidars of the lidar group on the main beam (6) of the gantry crane device (100). After the communication debugging is completed, observe the point cloud data of all the 3D lidars through the host computer, and adjust the installation angle of the 3D lidars until the scanning area of ​​the two partially overlapping and combined 3D lidars completely covers the rectangular area of ​​the hoisting mechanism.

9. The positioning guidance method of the positioning guidance system for vehicles and bridge deck components as described in claim 8, characterized in that, The laser radar group identifies and locates the component transport vehicle and identifies the coordinate information of the bridge deck components (10), including: Clustering and segmentation are performed on the point cloud data after removing redundant point clouds from non-lifting equipment operation areas; Based on the set vehicle model, the host computer performs template matching on the segmented point cloud subset to determine whether the component transport vehicle has entered the lifting device operation area. After successful matching, it sends a successful matching signal to the vehicle controller, issues a prompt message, and guides the component transport vehicle to park precisely in the designated area. After the vehicle stops, the host computer performs clustering and segmentation on the point cloud data, obtains the location of the prefabricated bridge deck components based on the set prefabricated bridge deck component model, establishes a topology map of the prefabricated bridge deck components, and sends the location coordinates of the prefabricated bridge deck components to the vehicle controller in sequence.

10. The positioning guidance method of the positioning guidance system for vehicles and bridge deck components as described in claim 8, characterized in that, Before the component transport vehicle approaches the gantry crane (100) after the lidar assembly is installed, the process also includes: First, calibrate the extrinsic parameters of the lidar, then calibrate the extrinsic parameters of the lidar and the hoisting mechanism to obtain the transformation relationship between the lidar coordinate system and the hoisting mechanism coordinate system.

Images