CN110488812A - A kind of ocean platform large structure module displacement method for carrying based on axis vehicle - Google Patents
A kind of ocean platform large structure module displacement method for carrying based on axis vehicle Download PDFInfo
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- CN110488812A CN110488812A CN201910678093.6A CN201910678093A CN110488812A CN 110488812 A CN110488812 A CN 110488812A CN 201910678093 A CN201910678093 A CN 201910678093A CN 110488812 A CN110488812 A CN 110488812A
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- 238000011549 displacement method Methods 0.000 title abstract description 4
- 238000000034 method Methods 0.000 claims abstract description 29
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
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- 238000005516 engineering process Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of ocean platform large structure module displacement method for carrying based on axis vehicle, data of axis vehicle during traveling are obtained using machine vision technique, the control of real-time and precise is carried out to the displacement handling process of ocean platform large structure, coordinate by obtaining control point judge axis vehicle whether offset track or more than speed limit, to solve the problems such as colliding or exceeding the speed limit between the vehicle of handling process central axes, avoid that ocean platform safety accident occurs.This method effectively solves the problems, such as to lift since space is limited, improve the efficiency for carrying large structure on ocean platform, staff is instructed to accurately control shifting process, it prevents from colliding between the vehicle of shifting process central axes or the speed of service is excessive, so as to cause there is ocean platform safety accident problem, guarantee the safety work of staff.
Description
Technical field
The invention belongs to the displacements of large structure module to carry technical field more particularly to a kind of sea based on axis vehicle
Foreign platform large structure module shifts method for carrying.
Background technique
When the medium-and-large-sized works module of ocean platform carries out location and installation process, due to the limitation in place space, practical work
The problems such as lifting insufficient space, boom movement are with site layout project interference is likely to occur in journey.Large size may be implemented using axis vehicle
Transport installation of the works in small space, therefore be widely used in practical projects.In works shifting process
In, it is placed below large structure module and carries axis vehicle, drive top large structure by the power of axis vehicle
Module device advances.In works equipment shifting process, since the quality of equipment is big, inertia causes greatly necessary in shifting process
Strictly speed is controlled, is such as directed to up to a hundred tons of EM equipment module, shifting speed is generally no greater than 5m/h.And it is removed in displacement
During fortune, it is necessary to keep between the axis vehicle of driving alongside timing synchronization to run, avoid equipment since collision is damaged or
It is that stuck accident occurs for turning speed difference between axis vehicle.There has been no effective measures to realize large structure module at present
It is controlled in shifting process speed control and anticollision.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of ocean platform large structure mould based on axis vehicle
Block shifts method for carrying, effectively solves the problems, such as to lift since space is limited, improves and carries large-scale knot on ocean platform
The efficiency of structure object, instructs staff to accurately control shifting process, prevents from touching between the vehicle of shifting process central axes
It hits or the speed of service is excessive, so as to cause there is ocean platform safety accident problem, guarantee the safety work of staff.
A kind of ocean platform large structure module displacement method for carrying based on axis vehicle, comprising the following steps:
Step 1: in two apexes of rectangle where the bottom surface of the large structure module to be carried and between two vertex
Respectively one control point of installation, and the navigation that axis vehicle is drawn between starting point and sliding final position is slid in large structure module
Track guarantees that the axis vehicle moment travels on navigation path at runtime；The navigation path by line navigation orbit segment and
Bend navigation path section combines composition, installs multiple rows of video camera in the front of axis vehicle direction of advance and surrounding, makes to image
Machine can completely take the information at control point in entire shifting process；
Step 2: two axis vehicles placed side by side on navigation path, it is identical with power to guarantee the model of two axis vehicles, and protect
Maintain an equal level row；Ocean platform large structure module is placed on above axis vehicle, and it is fixedly connected with axis vehicle, from
And guarantee large structure module synchronous can move with axis vehicle along navigation path direction；
Step 3: being shot in real time to the control point in large structure module in axis vehicle displacement, and will be collected
Picture comprising control point sends computer to and is analyzed；Computer extracts image, and carries out processing analysis to image, obtains
The coordinate at control point；Then camera coordinates are converted to the coordinate in actual shipment place；It is established in track starting point practical
The rectilinear direction of Descartes's three-dimensional system of coordinate of shipping yard, axis vehicle operation is Y-direction, is vertically upward Z-direction, X and the side Y
To vertical with Z-direction, obtained control point is then converted into the coordinate in actual shipment place based on the coordinate of video camera,
Conversion regime are as follows:
WhereinThe coordinate for being control point in video camera,
The coordinate for being control point in place,
R isOrthogonal matrix, T are D translation vectors,For relational matrix；
Step 4: axis vehicle line navigation orbit segment when driving, as shown in Fig. 2, coordinate of the video camera to the control point of setting
It is acquired, and is uploaded in computer in real time；Then computer compares two Control pointsDirection coordinate value, if hair
In present traveling process, then explanation is deflected in axis vehicle traveling process, and axis vehicle has not been by track
Center line is being walked；Compare the size of two coordinate values, if discovery, then illustrate axis vehicle in the power of 1 side of control point
Excessive, then computer issues signal, reduces the power output in the axis vehicle of the side；If it was found that, then illustrate axis vehicle
Power in 2 side of control point is excessive, then computer issues signal, reduces the power in the side axis vehicle, makes at two control points
Coordinate difference goes to zero；The velocity amplitude of axis vehicle operationIt can be by axis vehicleDirection coordinate difference divided by fromPoint arrives
The time of walkingIt obtains:
Then compareValue whether exceed speed limit value, if exceeding the upper limit, computer transmits a signal to axis
Vehicle, the Reduced Speed Now of control axis vehicle is until speed is reduced to defined velocity amplitude；
Step 5: axis vehicle bend navigation path section when driving, video camera adopts the coordinate at the control point of setting in real time
Collection, and upload in computer；It is taken pictures available axis vehicle control point by video cameraSeat in shipping yard
Scale value,；Then by point 1,2 are put, straight line is calculatedEquation
Formula passes through a littleAnd pointStraight line is calculatedEquation:
Find out straight lineAnd straight lineIntersection point O coordinate, intersection point O is the instantaneous center of circle of bend section circular arc；
The actual angle that axis vehicle traveling bend section turns over can be by formulaIt acquires, whereinFor straight line
Slope,For straight lineSlope,It is advanced to for axis vehicle from 1 pointThe point actual corner of axis vehicle；Camera record control
Point 3 arrives control pointTrack position, then upload to computer, track corner obtained by computerValue, track
CornerIt is exactly the angle that axis vehicle should theoretically turn over；By the actual rotational angle of axis vehicleWith axis vehicle theory cornerInto
Row compares, if discoveryIllustrate that the power at 1 side of axis vehicle control point is excessive, computer, which issues signal, makes 1 side of control point
Axis vehicle reduces output power, slows down；If it was found that, then illustrate the power output mistake at 2 side of axis vehicle control point
Greatly, computer, which issues signal, reduces the power of the axis vehicle of 2 side of control point；The speed of service of axis vehicle can be asked by following formula
:
Wherein T be axis vehicle from control point 1 to control pointThe time of walking,For axis vehicle actual rotational angle；Compare
Value whether exceed speed limit value, if exceeding the upper limit, computer transmits a signal to axis vehicle, control axis vehicle Reduced Speed Now
Until speed is reduced to defined velocity amplitude.
The method of the present invention obtains data of axis vehicle during traveling using machine vision technique, to ocean platform large size
The displacement handling process of works carries out the control of real-time and precise.Coordinate by obtaining control point judges whether axis vehicle deviates
Track is perhaps more than speed limit to solve the problems such as colliding or exceeding the speed limit between the vehicle of handling process central axes, avoids occurring
Ocean platform safety accident.
Detailed description of the invention
Fig. 1 is axis vehicle, navigation path and video camera overall diagram；
Fig. 2 is axis vehicle in line navigation track operation figure；
Fig. 3 is that schematic diagram is carried in the displacement that simplifies of the large structure module in the operation of bend navigation path.
In figure: the control point 1-；2- navigation path；3- axis vehicle；4- ocean platform large structure module；5- video camera.
Specific embodiment
One kind of the invention is based on axis vehicle large structure and shifts method for carrying, including following step as shown in drawings
It is rapid:
Step 1: in two apexes of rectangle where the bottom surface of the large structure module to be carried and between two vertex
Respectively one control point 1 of installation, and slid in large structure module and draw leading for axis vehicle between starting point and sliding final position
Boat track 2 guarantees that the axis vehicle moment travels on navigation path at runtime；The navigation path is by line navigation orbit segment
Composition is combined with bend navigation path section, multiple rows of video camera 5 is installed in the front of axis vehicle direction of advance and surrounding, makes to take the photograph
Camera 5 can completely take the information at control point in entire shifting process；
Step 2: two axis vehicles 3 placed side by side on navigation path, guarantee that the model of two axis vehicles is identical with power, and
Keeping parallelism；Ocean platform large structure module 4 is placed on above axis vehicle 3, and by itself and 3 company of being fixed of axis vehicle
It connects, to guarantee that large structure module 4 synchronous can be moved with axis vehicle 3 along navigation path direction；
Step 3: being shot in real time to the control point in large structure module 4 when axis vehicle 3 shifts, and will collect
The picture comprising control point send computer to and analyzed；Computer extracts image, and carries out processing analysis to image, obtains
To the coordinate at control point；Then camera coordinates are converted to the coordinate in actual shipment place；It is established in track starting point real
Descartes's three-dimensional system of coordinate of border shipping yard, axis vehicle 3 run rectilinear direction be Y-direction, be vertically upward Z-direction, X with
Y-direction and Z-direction are vertical, then obtained control point is converted to the seat in actual shipment place based on the coordinate of video camera
Mark, conversion regime are as follows:
WhereinThe coordinate for being control point in video camera,
The coordinate for being control point in place,
R isOrthogonal matrix, T are D translation vectors,For relational matrix；
Step 4: axis vehicle 3 line navigation orbit segment when driving, as shown in Fig. 2, coordinate of the video camera to the control point of setting
It is acquired, and is uploaded in computer in real time；Then computer compares two Control pointsDirection coordinate value, if hair
In present traveling process, then explanation is deflected in 3 traveling process of axis vehicle, and axis vehicle 3 has not been by rail
Mark center line is being walked；Compare the size of two coordinate values, if discovery, then illustrate axis vehicle 3 in 1 side of control point
Power is excessive, then computer issues signal, reduces the power output in the axis vehicle 3 of the side；If it was found that, then illustrate
Power of the axis vehicle 3 in 2 side of control point is excessive, then computer issues signal, reduces the power in the side axis vehicle, makes two controls
Coordinate difference goes to zero at system point；The velocity amplitude of axis vehicle operationIt can be by axis vehicleDirection coordinate difference divided by from
Point arrivesThe time of walkingIt obtains:
Then compareValue whether exceed speed limit value, if exceeding the upper limit, computer transmits a signal to axis
Vehicle 3, the Reduced Speed Now of control axis vehicle is until speed is reduced to defined velocity amplitude；
Step 5: axis vehicle 3 bend navigation path section when driving, as shown in figure 3, coordinate of the video camera to the control point of setting
It is acquired, and is uploaded in computer in real time；It is taken pictures available axis vehicle control point by video cameraIt is transporting
Coordinate value in place,；Then by point 1, point 2 is calculated straight
LineEquation, pass through a littleAnd pointStraight line is calculatedEquation:
Find out straight lineAnd straight lineIntersection point O coordinate, intersection point O is the instantaneous center of circle of bend section circular arc；
The actual angle that axis vehicle traveling bend section turns over can be by formulaIt acquires, whereinFor straight line
Slope,For straight lineSlope,It is advanced to for axis vehicle from 1 pointThe point actual corner of axis vehicle；Camera record control
Point 3 arrives control pointTrack position, then upload to computer, track corner obtained by computerValue, track
CornerIt is exactly the angle that axis vehicle should theoretically turn over；By the actual rotational angle of axis vehicleWith axis vehicle theory cornerInto
Row compares, if discoveryIllustrate that the power at 1 side of axis vehicle control point is excessive, computer, which issues signal, makes 1 side of control point
Axis vehicle reduces output power, slows down；If it was found that, then illustrate the power output mistake at 2 side of axis vehicle control point
Greatly, computer, which issues signal, reduces the power of the axis vehicle of 2 side of control point；The speed of service of axis vehicle can be asked by following formula
:
Wherein T be axis vehicle from control point 1 to control pointThe time of walking,For axis vehicle actual rotational angle；Compare
Value whether exceed speed limit value, if exceeding the upper limit, computer transmits a signal to axis vehicle, control axis vehicle Reduced Speed Now
Until speed is reduced to defined velocity amplitude.
Claims (1)
1. a kind of ocean platform large structure module based on axis vehicle shifts method for carrying, it is characterised in that: including following
Step:
Step 1: in two apexes of rectangle where the bottom surface of the large structure module to be carried and between two vertex
Respectively one control point of installation, and the navigation that axis vehicle is drawn between starting point and sliding final position is slid in large structure module
Track guarantees that the axis vehicle moment travels on navigation path at runtime；The navigation path by line navigation orbit segment and
Bend navigation path section combines composition, installs multiple rows of video camera in the front of axis vehicle direction of advance and surrounding, makes to image
Machine can completely take the information at control point in entire shifting process；
Step 2: two axis vehicles placed side by side on navigation path, it is identical with power to guarantee the model of two axis vehicles, and protect
Maintain an equal level row；Ocean platform large structure module is placed on above axis vehicle, and it is fixedly connected with axis vehicle, from
And guarantee large structure module synchronous can move with axis vehicle along navigation path direction；
Step 3: being shot in real time to the control point in large structure module in axis vehicle displacement, and will be collected
Picture comprising control point sends computer to and is analyzed；Computer extracts image, and carries out processing analysis to image, obtains
The coordinate at control point；Then camera coordinates are converted to the coordinate in actual shipment place；It is established in track starting point practical
The rectilinear direction of Descartes's three-dimensional system of coordinate of shipping yard, axis vehicle operation is Y-direction, is vertically upward Z-direction, X and the side Y
To vertical with Z-direction, obtained control point is then converted into the coordinate in actual shipment place based on the coordinate of video camera,
Conversion regime are as follows:
WhereinThe coordinate for being control point in video camera,
The coordinate for being control point in place,
R isOrthogonal matrix, T are D translation vectors,For relational matrix；
Step 4: axis vehicle line navigation orbit segment when driving, video camera adopts the coordinate at the control point of setting in real time
Collection, and upload in computer；Then computer compares two Control pointsDirection coordinate value, if discovery is traveling across
Cheng Zhong, then explanation is deflected in axis vehicle traveling process, and axis vehicle is expert at by trace centerline
It walks；Compare the size of two coordinate values, if discovery, then illustrate that axis vehicle is excessive in the power of 1 side of control point, then count
Calculation machine issues signal, reduces the power output in the axis vehicle of the side；If it was found that, then illustrate axis vehicle at control point 2
The power of side is excessive, then computer issues signal, reduces the power in the side axis vehicle, coordinate difference at two control points is made to become
In zero；The velocity amplitude of axis vehicle operationIt can be by axis vehicleDirection coordinate difference divided by fromPoint arrivesThe time of walkingIt obtains:
Then compareValue whether exceed speed limit value, if exceeding the upper limit, computer transmits a signal to axis
Vehicle, the Reduced Speed Now of control axis vehicle is until speed is reduced to defined velocity amplitude；
Step 5: axis vehicle bend navigation path section when driving, video camera adopts the coordinate at the control point of setting in real time
Collection, and upload in computer；It is taken pictures available axis vehicle control point by video cameraSeat in shipping yard
Scale value,；Then by point 1,2 are put, straight line is calculatedEquation
Formula passes through a littleAnd pointStraight line is calculatedEquation:
Find out straight lineAnd straight lineIntersection point O coordinate, intersection point O is the instantaneous center of circle of bend section circular arc；Axis
The actual angle that line vehicle traveling bend section turns over can be by formulaIt acquires, whereinFor straight lineTiltedly
Rate,For straight lineSlope,It is advanced to for axis vehicle from 1 pointThe point actual corner of axis vehicle；Camera record control point
3 arrive control pointTrack position, then upload to computer, track corner obtained by computerValue, track turn
AngleIt is exactly the angle that axis vehicle should theoretically turn over；By the actual rotational angle of axis vehicleWith axis vehicle theory cornerIt carries out
Compare, if discoveryIllustrate that the power at 1 side of axis vehicle control point is excessive, computer, which issues signal, makes the axis of 1 side of control point
Line vehicle reduces output power, slows down；If it was found that, then illustrate that the power output at 2 side of axis vehicle control point is excessive,
Computer, which issues signal, reduces the power of the axis vehicle of 2 side of control point；The speed of service of axis vehicle can be acquired by following formula:
Wherein T be axis vehicle from control point 1 to control pointThe time of walking,For axis vehicle actual rotational angle；Compare
Value whether exceed speed limit value, if exceeding the upper limit, computer transmits a signal to axis vehicle, control axis vehicle Reduced Speed Now
Until speed is reduced to defined velocity amplitude.
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| CN201910678093.6A CN110488812A (en) | 2019-07-25 | 2019-07-25 | A kind of ocean platform large structure module displacement method for carrying based on axis vehicle |
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| CN201910678093.6A CN110488812A (en) | 2019-07-25 | 2019-07-25 | A kind of ocean platform large structure module displacement method for carrying based on axis vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631342A (en) * | 2020-12-22 | 2021-04-09 | 博迈科海洋工程股份有限公司 | Large ocean module sliding shipment cooperative operation method |
| CN118145499A (en) * | 2024-05-09 | 2024-06-07 | 舟山惠生海洋工程有限公司 | Control method, system, equipment, storage medium and program product of flat car |
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Application publication date: 20191122 |