CN105241464A - Fast matching method of crane track map - Google Patents

Abstract

The invention discloses a fast matching method of a crane track map. Information uploaded through a GPS positioning device installed on a crane mainly comprises the information such as crane latitude and longitude, speed, direction, time and crane working condition. The working condition is measured through an acceleration sensor installed on a gib arm of the crane and comprises four states of traveling, waiting, operating and stopping. According to the fast matching method of the crane track map, an electric transmission line is equivalent to a road through a broken line, database storing is facilitated, a calculation formula of the vertical distance between a crane real-time location and a road to be matched and the distance between the crane real-time location and an electric transmission line is simplified by combining reality, and the calculation formula is equivalent to a calculation formula of the distance d from a GPS locating point to the road to be matched. The algorithm flow can be further simplified.

Description

A kind of crane rail slash figure fast matching method

Technical field

The present invention relates to a kind of crane rail slash figure fast matching method, belong to technical field of power systems.

Background technology

At present, the how anti-external force of ultra-high-tension power transmission line especially the big machinery preparation of construction such as crane destruction or to touch be the key subjects of transmission line of electricity operation maintenance department of electric company always.In line protection region, the vehicle accident that especially crane touches transmission line of electricity happens occasionally.For Suzhou City, electric company's 110 kilovolts of causing because of large-scale construction equipments such as cranes every year and above transmission line of electricity trip event just reach tens of, cause direct economic loss to reach millions of unit, also may cause the millions of unit of power customer economic loss simultaneously.

Installing GPS positioning system to crane is one of mode protecting transmission line of electricity the most frequently used at present.Positional information in real-time collection crane traveling process, can to carry out anticipation alarm in advance near the crane of power system transmission line, can also reappear crane travel track on electronic chart simultaneously.Crane location matches mainly comprises at present: the map-matching algorithm of position-based Point matching, the map-matching algorithm based on area-method criterion, fuzzy logic algorithm, map matching technology and curve fitting algorithm etc. based on weighting function.

Although these algorithms achieve extraordinary effect in navigation of electronic map, when requiring very high for electric system to the continuity of the real-time of crane running orbit, accuracy and matching result etc., same effect cannot be obtained.Map match based on fuzzy rule is limited to expertise (needing under different environment to change corresponding fuzzy rule).Although the map matching technology based on the function of weighting realizes simple, the empirical value of multiple parameters such as each weighted value wherein in region of search radius, weighting function needs to be determined by a large amount of measured datas.

Summary of the invention

The defect that the present invention seeks to exist for prior art provides a kind of crane rail slash figure fast matching method.

The present invention for achieving the above object, adopts following technical scheme: a kind of crane rail slash figure fast matching method, comprises the steps:

The first step, according to the shaft tower numbering in a transmission line of electricity by transmission line of electricity broken line, and connect according to shaft tower numbering straight line, and each straight line can be equivalent to a road, wherein the longitude of shaft tower in every bar transmission line of electricity, latitude, numbering, all obtain from database with the distance of front and back shaft tower, corner direction;

Second step, carries out Region dividing by shaft tower and road, and according to the continuity of vehicle movement, is that whole road net is divided into some grids from left to right, from top to bottom by step-length, and is divided into m × n region with predetermined length; Wherein, m and n represents line number and the columns of institute zoning respectively, and there is unique call number corresponding with it in each region, and each call number comprises separately and falls into its inside and all roads crossing with it;

Suppose that zoning length to be selected is 1000m, shaft tower region scope is L × H, and crane anchor point latitude and longitude coordinates is P _t(x, y), wherein, t is zone number, according to formula:

$\left\{\begin{array}{c}m=\[L/1000+1\]\\ n=\[H/1000+1\]\end{array}\right.;$ Draw, t=[x/1000]+[y/1000] × m+1; Wherein, L, H represent the regional extent of map, and x, y represent the longitude and latitude that crane is real-time respectively, and [] expression rounds;

3rd step, the data uploaded up GPS locating device are through row filter, delete some invalid GPS information points, from the Frame uploaded, pointwise reads the longitude and latitude of crane, speed, direction, time and duty, is stored in database after coordinate conversion; The region at each electric power line pole tower place is also stored in corresponding database, for next step analyzing and processing is ready simultaneously;

4th step, according to the region at second step determination GPS information point place, Query Database determines all roads in this region, and according to the running status of current crane, carries out path adaptation by projection algorithm;

5th step, after the match is successful, by current GPS longitude and latitude in real time stored in historical data base, is convenient to follow-up historical track and generates and inquiry, or be in the 4th step, provide decision-making to use when crane runs into intersection or many roads are difficult to differentiation.

Further, in the 4th step, when crane is transport condition, the concrete steps of carrying out path adaptation are as follows:

First, road to be matched is divided into following three classes:

The first kind, to be connected with the transmission line of electricity topology in the current region of crane, and to be connected with crane road topology that previous moment is mated;

Equations of The Second Kind, with transmission line of electricity topology on there is not connectedness, be only connected with crane road topology that previous moment is mated;

3rd class, with transmission line of electricity and crane previous moment mate and road topology do not exist connective road;

When carrying out matching primitives, preferentially from first kind road, select road to be matched, it fails to match selects road to be matched to carry out projection algorithm matching primitives more successively from Equations of The Second Kind and the 3rd class road;

In projection algorithm, available information comprises the distance d of anchor point to road to be matched and the angle theta of crane travel direction and road direction to be matched, then path adaptation degree f _i(d, θ) is:

f _i(d,θ)＝ω _dd _i+ω _θθ _i

Wherein, i represents i-th road, ω _dand ω _θrepresent that GPS anchor point is to the projector distance d in section to be matched and vehicle heading and the weight size of road direction angle theta to be matched in correspondence function respectively, it meets ω _d+ ω _θ=1; Each coupling gets f _ithe maximal value place road of (d, θ) is as road finally to be matched;

When running into two or more pieces road junction upon a match, be the O center of circle with point of crossing, with d _maxfor the border circular areas of radius gained is as the judging area of weights, if anchor point is outside this region, then project directly to section to be matched; If at intra-zone, when | OP|≤d _maxshi Caiyong following formulae discovery path adaptation degree:

$f_i(d,\mathrm{\θ})={\mathrm{\ω}}_d\stackrel{\‾}{d_i}+{\mathrm{\ω}}_{\mathrm{\θ}}\stackrel{\‾}{{\mathrm{\θ}}_i}$

Wherein: $\stackrel{\‾}{d_i}=d_i/\stackrel{n}{\mathrm{\Σ}}{d}_i,\stackrel{\‾}{{\mathrm{\θ}}_i}={\mathrm{\θ}}_i/\stackrel{n}{\mathrm{\Σ}}{\mathrm{\θ}}_i;$

GPS anchor point is to the distance d of road vertical range to be matched and region transmission line of electricity _ti, calculated by following general formula:

$d_{ti}=\sqrt{p(p-a)(p-b)(p-c)}/c$

Wherein, p=(a+b+c)/2, p represents intermediate variable, a, b submeter represent GPS anchor point to electric power line pole tower equivalence road two-end-point between distance, c is the link length of electric power line pole tower equivalence.

Beneficial effect of the present invention:

1. transmission line of electricity broken line is equivalent to road, be convenient to database purchase, in conjunction with actual simplify crane real time position and road vertical range to be matched and and transmission line of electricity between distance computing formula, be equivalent to the computing method of GPS anchor point to the distance d of road to be matched.Can shortcut calculation flow process further.

2. pass through transmission line of electricity and road net partition, reduce crane error band further, the selection of such coupling road is only relevant with the road quantity comprised in current crane region, have nothing to do with the scale of electronic chart, matching algorithm only need screen the road to be matched in the current region of crane, the calculated amount of further reduction algorithm, contributes to the real-time improving algorithm.

3. by adopting different matching process to crane different operating state, using matching degree time dynamic, under different road conditions, adopting different weights, effectively avoid crane to turn round or the error hiding phenomenon of crossing intersection part at road.Further raising algorithmic match longitude.

4. crane operation point also easily sends out place for transmission line malfunction, revised GPS information point real-time storage database history of forming database, be convenient to transmission line management part real-time statistics, analysis failure point of power transmission line easily sends out place, for the line data-logging personnel work of patrolling and examining provides reference frame, transmission line management department is facilitated to carry out prevention work in advance.

Accompanying drawing explanation

Fig. 1 Region dividing schematic diagram of the present invention;

Fig. 2 intersection of the present invention points out weights judging area;

Fig. 3 matching algorithm schematic diagram of the present invention;

Fig. 4 stationary state areal map of the present invention.

Embodiment

Shown in Fig. 1, Fig. 2, be a kind of crane rail slash figure fast matching method, comprise the steps:

The first step, according to the shaft tower numbering in a transmission line of electricity by transmission line of electricity broken line, and connect according to shaft tower numbering straight line, and each straight line can be equivalent to a road, wherein the longitude of shaft tower in every bar transmission line of electricity, latitude, numbering, all obtain from database with the distance of front and back shaft tower, corner direction;

Second step, carries out Region dividing by shaft tower and road, and according to the continuity of vehicle movement, is that whole road net is divided into some grids from left to right, from top to bottom by step-length, and is divided into m × n region with predetermined length; Wherein, m and n represents line number and the columns of institute zoning respectively, and there is unique call number corresponding with it in each region, and each call number comprises separately and falls into its inside and all roads crossing with it;

Suppose that zoning length to be selected is 1000m, shaft tower region scope is L × H, and crane anchor point latitude and longitude coordinates is P _t(x, y), wherein, t is zone number, according to formula:

$\left\{\begin{array}{c}m=\[L/1000+1\]\\ n=\[H/1000+1\]\end{array}\right.;$ Draw, t=[x/1000]+[y/1000] × m+1; Wherein, L, H represent the regional extent of map, and x, y represent the longitude and latitude that crane is real-time respectively, and [] expression rounds;

3rd step, the data uploaded up GPS locating device are through row filter, delete some invalid GPS information points, from the Frame uploaded, pointwise reads the longitude and latitude of crane, speed, direction, time and duty, is stored in database after coordinate conversion; The region at each electric power line pole tower place is also stored in corresponding database, for next step analyzing and processing is ready simultaneously;

4th step, according to the region at second step determination GPS information point place, Query Database determines all roads in this region, and according to the running status of current crane, carries out path adaptation by projection algorithm;

5th step, after the match is successful, by current GPS longitude and latitude in real time stored in historical data base, is convenient to follow-up historical track and generates and inquiry, or be in the 4th step, provide decision-making to use when crane runs into intersection or many roads are difficult to differentiation.

Wherein, in the 4th step, when crane is transport condition, the concrete steps of carrying out path adaptation are as follows:

First, road to be matched is divided into following three classes:

The first kind, to be connected with the transmission line of electricity topology in the current region of crane, and to be connected with crane road topology that previous moment is mated;

Equations of The Second Kind, with transmission line of electricity topology on there is not connectedness, be only connected with crane road topology that previous moment is mated;

3rd class, with transmission line of electricity and crane previous moment mate and road topology do not exist connective road;

When carrying out matching primitives, preferentially from first kind road, select road to be matched, it fails to match selects road to be matched to carry out projection algorithm matching primitives more successively from Equations of The Second Kind and the 3rd class road;

In projection algorithm, available information comprises the distance d of anchor point to road to be matched and the angle theta of crane travel direction and road direction to be matched, then path adaptation degree f _i(d, θ) is:

f _i(d,θ)＝ω _dd _i+ω _θθ _i

Wherein, i represents i-th road, ω _dand ω _θrepresent that GPS anchor point is to the projector distance d in section to be matched and vehicle heading and the weight size of road direction angle theta to be matched in correspondence function respectively, it meets ω _d+ ω _θ=1; Each coupling gets f _ithe maximal value place road of (d, θ) is as road finally to be matched;

When running into two or more pieces road junction upon a match, be the O center of circle with point of crossing, with d _maxfor the border circular areas of radius gained is as the judging area of weights, if anchor point is outside this region, then project directly to section to be matched; If at intra-zone, when | OP|≤d _maxshi Caiyong following formulae discovery path adaptation degree:

$f_i(d,\mathrm{\θ})={\mathrm{\ω}}_d\stackrel{\‾}{d_i}+{\mathrm{\ω}}_{\mathrm{\θ}}\stackrel{\‾}{{\mathrm{\θ}}_i}$

Wherein: $\stackrel{\‾}{d_i}=d_i/\stackrel{n}{\mathrm{\Σ}}{d}_i,\stackrel{\‾}{{\mathrm{\θ}}_i}={\mathrm{\θ}}_i/\stackrel{n}{\mathrm{\Σ}}{\mathrm{\θ}}_i;$

GPS anchor point is to the distance d of road vertical range to be matched and region transmission line of electricity _ti, calculated by following general formula:

$d_{ti}=2\sqrt{p(p-a)(p-b)(p-c)}/c$

Wherein, p=(a+b+c)/2, p represents intermediate variable, a, b submeter represent GPS anchor point to electric power line pole tower equivalence road two-end-point between distance, c is the link length of electric power line pole tower equivalence.

In addition, when crane for wait for, operation or dead ship condition time, all remain static, as shown in Figure 4, now crane is not necessarily in this state on road and is difficult to judge to the band coupling distance d of road and the angle theta of crane travel direction and road direction to be matched according to anchor point, but well-determined be that the transmission line of electricity that will arrive is just in this region.According to line protection requirement, be protection zone in the certain distance of transmission line of electricity both sides.The public domain of the protection zone that the transmission line of electricity both sides that thus now crane is in region and region are formed; determine in which side of transmission line of electricity according to the angle between GPS information point and transmission line of electricity direction again, can reduce the scope further when row gps coordinate mates.Whether judge that GPS point is in public domain, being now stable point in judgement, is that stable point is then through row projection matching algorithm.When stable point and crane remain static, GPS drifts in the GPS information point in the acceptable scope of system.Crane distance transmission line of electricity distance is still according to the formulae discovery in the 4th step.

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (2)

1. a crane rail slash figure fast matching method, is characterized in that, comprise the steps:

The first step, according to the shaft tower numbering in a transmission line of electricity by transmission line of electricity broken line, and connect according to shaft tower numbering straight line, and each straight line can be equivalent to a road, wherein the longitude of shaft tower in every bar transmission line of electricity, latitude, numbering, all obtain from database with the distance of front and back shaft tower, corner direction;

Second step, carries out Region dividing by shaft tower and road, and according to the continuity of vehicle movement, is that whole road net is divided into some grids from left to right, from top to bottom by step-length, and is divided into m × n region with predetermined length; Wherein, m and n represents line number and the columns of institute zoning respectively, and there is unique call number corresponding with it in each region, and each call number comprises separately and falls into its inside and all roads crossing with it;

Suppose that zoning length to be selected is 1000m, shaft tower region scope is L × H, and crane anchor point latitude and longitude coordinates is P _t(x, y), wherein, t is zone number, according to formula:

$\{\begin{array}{c}m=\[L/1000+1\]\\ n=\[H/1000+1\]\end{array};$ Draw, t=[x/1000]+[y/1000] × m+1; Wherein, L, H represent the regional extent of map, and x, y represent the longitude and latitude that crane is real-time respectively, and [] expression rounds;

3rd step, the data uploaded up GPS locating device are through row filter, delete some invalid GPS information points, from the Frame uploaded, pointwise reads the longitude and latitude of crane, speed, direction, time and duty, is stored in database after coordinate conversion; The region at each electric power line pole tower place is also stored in corresponding database, for next step analyzing and processing is ready simultaneously;

4th step, according to the region at second step determination GPS information point place, Query Database determines all roads in this region, and according to the running status of current crane, carries out path adaptation by projection algorithm;

5th step, after the match is successful, by current GPS longitude and latitude in real time stored in historical data base, is convenient to follow-up historical track and generates and inquiry, or be in the 4th step, provide decision-making to use when crane runs into intersection or many roads are difficult to differentiation.

2. a kind of crane rail slash as claimed in claim 1 figure fast matching method, is characterized in that, in the 4th step, when crane is transport condition, the concrete steps of carrying out path adaptation are as follows:

First, road to be matched is divided into following three classes:

The first kind, to be connected with the transmission line of electricity topology in the current region of crane, and to be connected with crane road topology that previous moment is mated;

Equations of The Second Kind, with transmission line of electricity topology on there is not connectedness, be only connected with crane road topology that previous moment is mated;

3rd class, with transmission line of electricity and crane previous moment mate and road topology do not exist connective road;

When carrying out matching primitives, preferentially from first kind road, select road to be matched, it fails to match selects road to be matched to carry out projection algorithm matching primitives more successively from Equations of The Second Kind and the 3rd class road;

In projection algorithm, available information comprises the distance d of anchor point to road to be matched and the angle theta of crane travel direction and road direction to be matched, then path adaptation degree f _i(d, θ) is:

f _i(d,θ)＝ω _dd _i+ω _θθ _i

Wherein, i represents i-th road, ω _dand ω _θrepresent that GPS anchor point is to the projector distance d in section to be matched and vehicle heading and the weight size of road direction angle theta to be matched in correspondence function respectively, it meets ω _d+ ω _θ=1; Each coupling gets f _ithe maximal value place road of (d, θ) is as road finally to be matched;

When running into two or more pieces road junction upon a match, be the O center of circle with point of crossing, with d _maxfor the border circular areas of radius gained is as the judging area of weights, if anchor point is outside this region, then project directly to section to be matched; If at intra-zone, when | OP|≤d _maxshi Caiyong following formulae discovery path adaptation degree:

$f_i(d,\mathrm{\θ})={\mathrm{\ω}}_d\stackrel{\‾}{d_i}+{\mathrm{\ω}}_{\mathrm{\θ}}\stackrel{\‾}{{\mathrm{\θ}}_i}$

Wherein: $\stackrel{\‾}{d_i}=d_i/\stackrel{n}{\mathrm{\Σ}}{d}_i,\stackrel{\‾}{{\mathrm{\θ}}_i}={\mathrm{\θ}}_i/\stackrel{n}{\mathrm{\Σ}}{\mathrm{\θ}}_i;$

GPS anchor point is to the distance d of road vertical range to be matched and region transmission line of electricity _ti, calculated by following general formula:

$d_{ti}=2\sqrt{p(p-a)(p-b)(p-c)}/c$

Wherein, p=(a+b+c)/2, p represents intermediate variable, a, b submeter represent GPS anchor point to electric power line pole tower equivalence road two-end-point between distance, c is the link length of electric power line pole tower equivalence.