CN113738146B - Positioning and deviation rectifying method for medical shelter moving platform - Google Patents
Positioning and deviation rectifying method for medical shelter moving platform Download PDFInfo
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- E—FIXED CONSTRUCTIONS
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- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
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Abstract
The invention discloses a positioning and deviation rectifying method for a movable platform of a medical shelter, which comprises the steps of carrying out induction recognition on an induction mark of a target area after the movable platform moves to the target area of the shelter, calculating a real-time position parameter of the movable platform by utilizing the induction mark fixed by the position parameter, then comparing the real-time position parameter with the position parameter of the target positioning point to calculate the remaining movement allowance, controlling the movable platform to realize accurate movement positioning, realizing uniform automatic allocation of medical resources by a dispatching system of the movable platform, improving the capacity of solving the use efficiency of the internal space of the medical shelter and the medical service operation efficiency of medical staff, accurately positioning the movable platform, reducing the labor amount of the medical staff for manually moving the medical resources and improving the medical work efficiency of the medical shelter.
Description
Technical Field
The invention belongs to the automation technology of medical treatment shelter, and particularly relates to a positioning and deviation rectifying method for a medical treatment shelter moving platform.
Background
The medical shelter is an epidemic situation disposal means for uniformly isolating, observing and treating epidemic-related personnel under the condition of epidemic situation, and common forms comprise a vehicle-mounted medical shelter and a fixed shelter hospital. The vehicle-mounted medical shelter has irreplaceable effects in relieving medical emergency requirements (such as mobile sampling for epidemic situations or mobile vaccine injection) and making up for the shortage of medical resources in remote rural areas; the fixed shelter hospital is formed by temporarily constructing in a proper place and can be mainly used for isolated observation of epidemic-involved personnel and centralized treatment of confirmed personnel.
When the medical shelter is used for treating large-scale epidemic situations, the shelter cannot be freely put in and taken out, under the condition that medical staff in the shelter are limited, in the process of allocating medical resources in the medical shelter, a scheme for automatically transferring and allocating the medical resources by adopting a self-walking moving platform is provided, a processing area of a fixed partition is adopted in the medical shelter, and the medical resources are loaded by a self-walking moving trolley and transferred to a required area through a set moving path. In actual shelter medical care in-process, need moving platform can accurately arrive the target assigned position in this region, and according to the position that is fit for medical personnel's operation, angle accurate positioning, but present moving platform navigation only can navigate the target area with the platform, moving platform can not carry out the accurate positioning of position and angle after moving the target area and rectify a deviation, consequently often still need medical personnel to carry out manual adjustment once more to self-walking moving platform, medical personnel's the amount of labour has been increased, the efficiency of the automatic allotment of medical resource has been reduced.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problem that the existing medical moving platform cannot be accurately positioned in a medical shelter, the positioning and correcting method for the medical shelter moving platform is provided.
The invention is realized by adopting the following technical scheme:
the medical shelter moving platform positioning and deviation rectifying method is characterized in that the moving platform moves to a target area of the medical shelter, the moving platform has a rotational degree of freedom and a translational degree of freedom on a floor of the target area, at least one positioning point and a plurality of induction marks distributed around the positioning point array are arranged on the floor of the target area, the rotating center of the moving platform is used as a positioning reference of the moving platform, and the moving platform moves until the rotating center is aligned with the target positioning point;
in the moving and positioning process of the mobile platform, an x-y plane coordinate system is established by the floor of the target area, coordinate values of the positioning points and the induction marks in the x-y coordinate system are known, at least two groups of induction units for detecting the induction marks are arranged around the rotation center of the mobile platform, at least two groups of different induction units induce at least two groups of different induction marks along with the rotation of the mobile platform, the real-time position coordinates of the rotation center of the mobile platform are calculated and compared with the coordinates of the target positioning points, the movement allowance of the mobile platform moving to the rotation center and aligning with the target positioning points is obtained, and the mobile platform is controlled to move to the target positioning points according to the movement allowance.
In the positioning and deviation-rectifying method for the mobile platform of the medical shelter, preferably, the induction units are distributed on four phase angles of a polar coordinate system taking a rotation center as a pole, and the polar coordinates of each induction unit relative to the pole are different.
In the positioning and deviation rectifying method for the mobile platform of the medical shelter, preferably, the sensing units are six groups, and in the process of detecting the sensing marks by the sensing units, the two detection modes that the sensing units detect the sensing marks simultaneously and the sensing units detect the sensing marks sequentially are divided, and in the two detection modes, the rotating center of the mobile platform and the sensing units have three position relations:
the first position relation is that the rotating center of the moving platform is positioned between the two groups of sensing units and is positioned on the same straight line;
the rotating centers of the moving platforms are positioned on one sides of the two groups of sensing units and are positioned on the same straight line;
and the rotating center of the moving platform is perpendicular to the connecting lines of the two groups of sensing units respectively.
In the positioning and deviation-correcting method for the medical shelter mobile platform, further, the coordinates of two groups of induction marks respectively detected by two groups of induction units are respectively defined as (x) 1 ，y 1 ) And (x) 2 ，y 2 ) And the real-time position coordinate of the rotating center of the mobile platform is (x, y).
When the sensing unit detects the sensing marks at the same time:
the real-time position coordinate of the rotating center of the mobile platform corresponding to the position relation I is calculated by the following formula:
and calculating the real-time position coordinate of the rotating center of the mobile platform corresponding to the position relation II through the following formula:
and calculating the real-time position coordinate of the rotating center of the mobile platform corresponding to the position relation III by the following formula:
when the sensing unit detects the sensing identification in sequence:
the real-time position coordinates of the rotating center of the mobile platform corresponding to the three position relations are calculated by a formula (5) and a formula (6).
Wherein r is 1 And r 2 The two groups of induction units respectively have the rotation radius relative to the rotation center of the mobile platform.
In the positioning and deviation rectifying method for the mobile platform of the medical shelter, preferably, position vectors between the position coordinates of the rotating center of the mobile platform and the position coordinates when the two groups of sensing units detect the sensing marks are established, and the unique position coordinate value of the rotating center of the mobile platform is judged by comparing the position relation between the two position vectors.
In the positioning and deviation rectifying method for the medical shelter moving platform, preferably, the induction marks detected by the two groups of induction units with the largest rotating radius are selected preferentially.
In the positioning and deviation rectifying method for the mobile platform of the medical shelter, further, after the mobile platform detects the second group of induction marks in a rotating way, the real-time azimuth angle alpha of the mobile platform is calculated by the following formula,
the real-time azimuth angle α of the mobile platform calculated by the formula (7) is only a numerical value, and the specific azimuth of the mobile platform still needs to be determined by determining the quadrant position of the real-time azimuth angle α in the local coordinate system established by taking the rotation center of the mobile platform as the origin.
And comparing the alpha with the target attitude angle of the mobile platform to obtain the angle difference of the mobile platform needing to correct the deflection, and controlling the rotation angle difference of the mobile platform to be adjusted to the target attitude angle.
In the positioning and deviation rectifying method for the moving platform of the medical shelter, the accuracy of the real-time position coordinates (x, y) of the rotating center of the moving platform is further checked and calculated through a formula (7), a formula (8), a formula (9) and a formula (10),
when the sensing unit detects the sensing marks at the same time:
the relationship between the azimuth angle corresponding to the first position relationship and the second position relationship and the rotation angle of the mobile platform is shown in formula (9):
the relationship between the azimuth angle corresponding to the position relationship III and the rotation angle of the mobile platform is shown in the formula (10):
wherein gamma is the real-time azimuth angle of the mobile platform when the mobile platform detects the first group of induction marks, and theta is the rotation angle between the two groups of induction marks detected by the rotation of the mobile platform and can be measured by an angle sensor of the mobile platform;
when the sensing unit detects the sensing identification in sequence:
the relation between the azimuth angle corresponding to the three position relations and the rotation angle of the mobile platform is the same as that when the sensing unit detects the sensing mark at the same time.
In the positioning and deviation rectifying method for the medical shelter mobile platform, preferably, if the error obtained by calculation is within 3 degrees, the mobile platform is controlled to perform deviation rectifying movement and rotation according to the calculation result;
and if the calculated error exceeds 3 degrees, controlling the mobile platform to continuously rotate and detect two groups of new induction units for calculation until the error is within 3 degrees after checking calculation.
The invention has the following beneficial effects:
(1) according to the medical shelter mobile platform positioning and deviation rectifying method, after the mobile platform moves to a shelter target area, the induction identification of the target area is subjected to induction recognition, the real-time position parameter of the mobile platform is calculated by utilizing the induction identification fixed by the position parameter, then the movement allowance required to be left is calculated by comparing the real-time position parameter with the position parameter of a target positioning point, and the mobile platform is controlled to realize accurate movement positioning.
(2) The medical shelter mobile platform positioning and deviation rectifying method comprises the steps of identifying more than two groups of induction marks by controlling a mobile platform to rotate, setting the rotation center of the mobile platform as a positioning reference of the mobile platform, calculating a real-time attitude azimuth angle of the mobile platform by utilizing the coordinate geometric relation between the position parameters of the induction marks and the rotation center of the mobile platform, calculating a deflection angle of the mobile platform to be adjusted and corrected by comparing the real-time attitude azimuth angle with a target attitude angle of the mobile platform moving to a positioning point, and controlling the mobile platform to move and position according to the set attitude angle.
(3) The positioning and deviation rectifying method for the medical shelter mobile platform further utilizes the geometric relationship between the deflection angle and the position parameters of different induction marks to check the accuracy of the obtained position parameters of the mobile platform, so that the positioning accuracy of the mobile platform is improved.
(4) According to the medical shelter, the self-walking mobile platform moving on the floor of the medical shelter is positioned and corrected, medical resources stored by the mobile platform are movably distributed to each area of the medical shelter, unified and automatic allocation of the medical resources is realized through the scheduling system of the mobile platform, the capacity of solving the use efficiency of the internal space of the medical shelter and the medical service operation efficiency of medical staff is improved, the mobile platform can be accurately positioned, the labor amount of the medical staff for manually moving the medical resources is reduced, and the medical work efficiency of the medical shelter is improved.
The invention is further described with reference to the following figures and detailed description.
Drawings
Fig. 1 is a schematic diagram of the mobile platform entering a target area of a medical shelter in an embodiment.
Fig. 2 is a schematic view of rotation sensing of all sensing units on the mobile platform in a state where the rotation center is aligned with one of the sensing marks in the embodiment.
Fig. 3 is a schematic diagram illustrating rotation sensing of all sensing units on the mobile platform in a state where the rotation center is located between two sensing marks in the embodiment.
Fig. 4 is a schematic view illustrating rotation sensing of all sensing units on the mobile platform in the embodiment when the rotation center is located at four sensing marks.
Fig. 5 is a schematic diagram illustrating a geometric relationship between two sets of sensing marks of the rotational sensing of the mobile platform and the rotational center of the mobile platform according to the embodiment.
Fig. 6 is a schematic diagram illustrating a positional relationship between two sets of sensing marks corresponding to the rotation sensing of the mobile platform and the rotation center of the mobile platform in combination 2-1 in the embodiment.
Fig. 7 is a schematic flow chart of the positioning and deviation rectifying method for the medical shelter moving platform according to the embodiment.
Fig. 8 is a schematic diagram illustrating a relationship between two sets of sensing marks sensed by the combination 1-1 corresponding to the mobile platform and a rotation center of the mobile platform.
Fig. 9 is a schematic diagram illustrating a relationship between two sets of sensing marks and a rotation center of the mobile platform sensed by the combination 1-2 corresponding to the mobile platform in the embodiment.
Fig. 10 is a schematic diagram illustrating the relationship between two sets of sensing marks and the rotation center of the mobile platform sensed by the combinations 1-3 corresponding to the mobile platform in the embodiment.
Fig. 11 is a schematic diagram illustrating a positional relationship between two sets of sensing marks corresponding to the rotation sensing of the mobile platform in combination 2-2 and the rotation center of the mobile platform in the embodiment.
Fig. 12 is a schematic diagram illustrating a positional relationship between two sets of sensing marks corresponding to the combinations 2 to 3 and the rotational center of the mobile platform in the embodiment.
Reference numbers in the figures: 1. 1 ', 1' -moving platform, 101-center of rotation, 100-induction ring, 11-first induction unit, 12-second induction unit, 13-third induction unit, 14-fourth induction unit, 15-fifth induction unit, 16-sixth induction unit, 2-induction mark, 3-positioning point, I-local coordinate system x axis, and II-local coordinate system y axis.
Detailed Description
Examples
The embodiment is a specific explanation of the positioning and deviation rectifying method for the medical shelter moving platform.
As shown in fig. 1, a mobile platform 1 moves into a target area of a medical shelter through a preset navigation route, the mobile platform 1 has a rotational degree of freedom and a translational degree of freedom on a floor of the medical shelter, the translational degree of freedom is realized through a traveling system arranged on the mobile platform, the in-situ rotational degree of freedom is realized through a steering system arranged on the mobile platform, at least one positioning point 3 and a plurality of induction marks 2 arrayed around the positioning point 3 are arranged on the floor of the target area, the induction marks in the figure are arranged and distributed in longitudinal and transverse equidistance, the positioning point 3 is independent of the induction marks 2 and can be superposed with any induction mark 2, the embodiment takes a rotation center 101 of the mobile platform 1 as a positioning reference of the mobile platform, the rotational degree of freedom of the mobile platform 1 is rotation around the rotation center 101, and the mobile platform moving into the target area moves until the rotation center is aligned with the target positioning point, namely, the mobile platform 1 can be accurately positioned and moved in the target area of the medical shelter.
The basic idea of the embodiment for positioning and correcting the deviation of the mobile platform 1 in the target area is as follows, a plurality of induction marks 2 are regularly arranged on the floor of the target area of the shelter, and each mark corresponds to a coordinate position point. After the mobile platform 1 drives into a target area, the mobile platform 1 rotates in situ, position signals of induction marks are acquired through induction units arranged on the mobile platform 1, at least two or more induction mark signals are acquired, and a dispatching system of the mobile platform can calculate the position coordinates and the specific direction of the mobile platform according to the acquired position coordinates corresponding to any two induction marks and the geometric position relation of a sensor on the mobile platform; if the sensor can not collect the signals or the collected signals are lower than two, the mobile platform continuously rotates in situ until two or more signals are collected, and the dispatching system can also calculate the position coordinates and the specific orientation of the mobile platform according to the collected data signals and the rotation angle of the mobile platform. After the position and the orientation are determined, the dispatching system calculates the movement allowance according to the position parameters of the target positioning point and the target attitude angle, and then sends out an instruction to correct the position and the orientation of the mobile platform and control the mobile platform 1 to realize accurate positioning and move to the target positioning point.
The induction mark 2 adopts a photoelectric mark and a bar code mark, and the induction unit adopts a photoelectric sensor and a scanning sensor to respectively identify the photoelectric mark and the bar code mark so as to prevent the detection signal from being lost due to the damage of one mark and influence the reliability of the position detection of the mobile platform. Referring to fig. 2, 3 and 4, six sets of sensing units, namely a first sensing unit 11, a second sensing unit 12, a third sensing unit 13, a fourth sensing unit 14, a fifth sensing unit 15 and a sixth sensing unit 16, are arranged at the periphery of the rotation center of the mobile platform 1.
In order to ensure that the mobile platform 1 can acquire two or more signals at any position by rotating, the present embodiment optimally designs the installation positions of six induction units at the bottom of the mobile platform, the six induction units are distributed on four phase angles of a polar coordinate system taking the rotation center 101 of the mobile platform as a pole, that is, the center of rotation 101 is used as the center of circle, the most distant sensing units are used as the radius to make a circle, all the sensing units are distributed on two groups of vertical diameters of the circle, in addition, the polar coordinates of each induction unit relative to the poles are different, so that the first induction unit 11 and the second induction unit 12 with smaller rotation radius relative to the rotation center 101 rotate with the moving platform to form an inner induction ring 100 after the moving platform 1 rotates by one circle, and the third induction unit 13, the fourth induction unit 14, the fifth induction unit 15 and the sixth induction unit 16 with larger rotation radius relative to the rotation center 101 rotate with the moving platform to form an outer induction ring 100.
When the rotation center of the mobile platform 1 is located at the position shown in fig. 2, the rotation center 101 is concentrically aligned with any induction mark on the ground, at this time, an internal induction ring formed by the first induction unit 11 and the second induction unit 12 covers four complete induction marks, an external induction ring covers twelve complete induction marks, at this position, the mobile platform 1 rotates for a circle, and the six induction units can acquire position signals of at least sixteen induction marks, and the acquired signals can accurately complete the positioning of the mobile platform;
when the rotation center of the mobile platform 1 is located at the position shown in fig. 3, the rotation center 101 is located between two induction marks, at this time, the inner induction rings of the first induction unit 11 and the second induction unit 12 cover approximately half of four induction marks, the outer induction rings cover four complete induction marks and eight incomplete induction marks, and the cross-sectional area of the induction marks is larger than the induction range of the induction units, so that the induction units can detect part of the induction marks, at this position, the mobile platform 1 rotates for one circle, six induction units can acquire at least sixteen induction mark position signals, and the acquired signals can also accurately complete the positioning of the mobile platform;
when the rotation center of the mobile platform 1 is located at the position shown in fig. 4, the rotation center 101 is located among the four sensing marks, at this time, the inner sensing ring formed by the first sensing unit 11 and the second sensing unit 12 has no sensing mark, but the outer sensing ring covers four complete sensing marks, in this position, the mobile platform rotates for a circle, the six sensing units can collect position signals of the four sensing marks at least, and the collected signals can also accurately complete the positioning of the mobile platform.
Through the signal that can gather at three kinds of special positions to moving platform 1 and carry out the analysis, the response sign that inside and outside response ring covered in the condition shown in fig. 2 is most, it is most complete, the response sign that inside and outside response ring covered in the condition shown in fig. 4 is minimum, when moving platform is located other positions, the response sign quantity and the integrality that inside and outside response ring covered are between first and the third kind of condition, in practical application, preferentially select the response sign that two sets of induction element that radius of rotation is the biggest to detect and calculate, under the condition that outside response ring does not can cover the response sign, consider again and choose the response sign that inside response ring covered for use. Therefore, the arrangement scheme of the sensing units adopted by the embodiment can ensure that enough signals can be acquired by the mobile platform at any position so as to complete the final position correction of the mobile platform.
Referring to fig. 5, in the moving and positioning process of the target area, the moving platform 1' establishes an x-y plane coordinate system with the floor of the target area, knows coordinate values of the positioning points and the sensing marks in the x-y plane coordinate system, is provided with at least two groups of sensing units for detecting the sensing marks around the rotation center of the moving platform, and two groups of different sensing units detect two groups of different sensing marks along with the rotation of the moving platform, calculates real-time position coordinates of the rotation center of the moving platform, compares the real-time position coordinates with the coordinates of the target positioning points to obtain a moving margin when the moving platform moves to the rotation center and is aligned with the target positioning points, and controls the moving platform to move to the target positioning points according to the moving margin.
Specifically, as shown in fig. 5, after the mobile platform 1' senses the first group of sensing marks through the fourth sensing unit 14, the coordinates of the sensed marks are obtained as (x) 1 ，y 1 ) After rotating a certain angle, the moving platform 1 ″ senses the second set of sensing targets through the sixth sensing unit 16After identification, the coordinate of the detected induction mark is obtained as (x) 2 ，y 2 ) Then the real-time position coordinates (x, y) of the center of rotation 101 of the mobile platform are calculated by the following formula:
wherein r is 1 And r 2 The radius of rotation of the fourth sensing unit 14 and the sixth sensing unit 16, respectively, to the center of rotation of the mobile platform.
Because the equations corresponding to the formula (1) and the formula (2) do not have unique solutions, the coordinates of the position of the rotation center 101 of the mobile platform 1 obtained by calculation are marked with two types, namely (x, y) and (x ', y'), as shown in fig. 6, in order to find out the correct position of the mobile platform in the target area, the judgment needs to be carried out according to the relative position of the sensing unit on the mobile platform and the rotation center, and the judgment method is as follows: taking the rotation center (x, y) of the mobile platform as an original point, a position coordinate point of the rotation center and a position coordinate point (x) of the second group of sensing units before rotation 2 ’，y 2 ') is rotated clockwise by an angle theta, and then is associated with the center of rotation position coordinate point and the second set of induction mark position coordinate points (x) 2 ，y 2 ) If the formed vectors have the same direction, judging that (x, y) is the correct position coordinate of the rotating center of the moving platform; if the rotation center (x ', y') of the mobile platform is taken as the origin, the position coordinate point of the rotation center and the position coordinate point (x) before the rotation of the second group of sensing units 2 ”，y 2 ") is rotated counterclockwise by an angle theta, which is the same as the direction of the vector formed by the position coordinate point of the rotation center and the position coordinate points of the second group of induction marks, and (x ', y') is determined as an invalid position coordinate.
And after the real-time position coordinate of the rotating center of the mobile platform is obtained through calculation, calculating the difference between the x coordinate and the y coordinate of the real-time position coordinate of the mobile platform and the target positioning point in an x-y coordinate system, and obtaining the movement allowance of the mobile platform.
After the position coordinates of the rotation center of the mobile platform are calculated through the formula (1) and the formula (2), according to the geometrical relationship shown in fig. 5, the real-time azimuth angle alpha of the mobile platform when the second group of induction marks are detected is calculated through the following formula,
the real-time azimuth angle α of the mobile platform calculated by the formula (3) is only a numerical value, and the specific azimuth of the mobile platform still needs to be determined by determining the quadrant position of the real-time azimuth angle α in the local coordinate system established by taking the rotation center of the mobile platform as the origin, and the determination method comprises the following steps:
if it is
If the azimuth angle alpha is located in the first quadrant or the + y axis of the local coordinate system;
if it is
Then the azimuth angle α is located in the second quadrant or-x axis of the local coordinate system;
if it is
If the azimuth angle alpha is positioned in the third quadrant or the-y axis of the local coordinate system;
if it is
The azimuth angle alpha is located in the fourth quadrant or + x-axis of the local coordinate system.
And comparing the alpha with the target attitude angle of the mobile platform to obtain the angle difference of the mobile platform needing to correct deflection, and controlling the rotation angle difference of the mobile platform to be adjusted to the target attitude angle.
At this time, the movement allowance and the correction angle required for the mobile platform 1 to move to the target positioning point are calculated, and in order to verify the accuracy of the result, the accuracy of the real-time position coordinates (x, y) of the rotation center is verified through formula (3), formula (4) and formula (5) in combination with the geometric relationship in fig. 5,
wherein, gamma is the real-time azimuth angle of the mobile platform when detecting the first group of induction marks, theta is the angle of the mobile platform rotating between the two groups of induction marks, and can be measured by the angle sensor of the mobile platform.
As shown in the flow chart in fig. 7, the real-time azimuth angles α and γ calculated by the mobile platform scheduling system when the mobile platform detects two sets of inductive identifiers are checked with the rotation angle θ of the mobile platform detected by the mobile platform scheduling system when the two sets of inductive identifiers are detected, if the error obtained by checking is within 3 °, the position and angle parameters of the mobile platform at that time are considered to be accurate, and the mobile platform can be controlled to perform deviation rectifying movement and rotation according to the calculation result; and if the calculated error exceeds 3 degrees, controlling the mobile platform to continuously rotate in situ to detect two groups of induction units again to calculate again according to the method until the error is within 3 degrees after checking calculation.
In the process of detecting the induction mark by the induction unit, the induction unit detects the induction mark simultaneously (detection mode 1) and detects the induction mark successively (detection mode 2, after the induction unit detects the first group of induction marks, the mobile platform rotates around the rotation center for an angle and then detects the second group of induction marks), and in the detection modes, the rotation center of the mobile platform has three position relations with the induction unit: the first position relation is that the rotating center of the moving platform is positioned between the two groups of sensing units and is positioned on the same straight line; the rotating centers of the moving platforms are positioned on one sides of the two groups of sensing units and are positioned on the same straight line; and in the third position relation, the rotating center of the moving platform is perpendicular to the connecting line between the two groups of sensing units. According to the subdivision condition, the two groups of sensing units detect the two groups of sensing marks in the following six combination modes:
combination 1-1: detection mode 1+ positional relationship one, as shown in fig. 8,
combination 1-2: the detection mode 1+ position relationship two, as shown in figure 9,
combination 1-3: the detection mode 1+ position relationship three, as shown in fig. 10,
combination 2-1: the detection mode 2+ position relationship one, as shown in fig. 5 and 6,
combination 2-2: the detection mode 2+ position relationship two, as shown in fig. 11,
combination 2-3: the detection mode 2+ position relationship three is shown in fig. 12.
The other combinations of this embodiment are the same as the corresponding methods of the combination 2-1, and are not repeated herein, and only the positioning and deviation rectifying formulas and diagrams corresponding to the various combinations are listed and described.
Calculating real-time position coordinates (x, y) of the center of rotation of the mobile platform:
the following formula can be used for combination 1-1:
the following formula can be used for combinations 1-2:
for combinations 1-3, 2-2 and 2-3, they can be calculated by formula (1) and formula (2), and the method for determining the correct position coordinates of the center of rotation of the mobile platform corresponding to combinations 2-2 and 2-3 is the same as that of combination 2-1, while the method for determining the correct position coordinates of the center of rotation of the mobile platform corresponding to combinations 1-3 is as follows: using the rotation center position coordinate point (x, y) of the mobile platform as an original point, the rotation center position coordinate point and the position coordinate point (x) of the first group of induction marks 1 ，y 1 ) The formed vector needs to rotate 90 degrees clockwise, and then is matched with a position coordinate point of the rotation center and a position coordinate point (x) of the second group of induction marks 2 ，y 2 ) If the formed vectors have the same direction, determining (x, y) as the correct coordinate position of the rotation center of the mobile platform, otherwise determining as an invalid position coordinate.
Calculating the real-time azimuth angle alpha of the mobile platform:
the real-time azimuth angle alpha of the mobile platform corresponding to other combinations and the method for judging the position of the quadrant of the mobile platform corresponding to other combinations are all consistent with the method corresponding to the combination 2-1.
Checking the coordinate position of the rotating center of the mobile platform and the real-time azimuth angle alpha:
the calculation of real-time azimuth angles alpha and gamma for checking corresponding to other combinations is shown as formula (3) and formula (4), the checking formulas of combination 1-1, combination 1-2 and combination 2-2 are the same as that of combination 2-1, as formula (5), and the checking formulas of combination 1-3 and combination 2-3 are as formula (10):
the above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered by the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (9)
1. The positioning and deviation rectifying method for the medical shelter moving platform is characterized by comprising the following steps:
the mobile platform moves to a target area of the medical shelter, the mobile platform has a rotational degree of freedom and a translational degree of freedom on a floor of the target area, at least one positioning point and a plurality of induction marks distributed around the positioning point array are arranged on the floor of the target area, the rotation center of the mobile platform is taken as a positioning reference of the mobile platform, and the mobile platform moves until the rotation center is aligned with the target positioning point;
in the moving and positioning process of the mobile platform, an x-y plane coordinate system is established by the floor of the target area, coordinate values of the positioning point and the induction mark in the x-y coordinate system are known, at least two groups of induction units for detecting the induction mark are arranged around the rotation center of the mobile platform, at least two groups of different induction units induce at least two groups of different induction marks along with the rotation of the mobile platform, the real-time position coordinate of the rotation center of the mobile platform is calculated and compared with the coordinate of the target positioning point, the movement allowance of the mobile platform moving to the rotation center and aligned with the target positioning point is obtained, the mobile platform is controlled to move to the target positioning point according to the movement allowance, the real-time azimuth angle of the mobile platform is calculated after the mobile platform rotates and detects a second group of induction mark, and the real-time azimuth angle is compared with the target attitude angle of the mobile platform, and obtaining the angle difference of the mobile platform needing to be corrected for deflection, and controlling the rotation angle difference of the mobile platform to be adjusted to the target attitude angle.
2. The method for correcting the positioning deviation of the medical shelter mobile platform according to claim 1,
the induction units are distributed on four phase angles of a polar coordinate system taking a rotation center as a pole, and the polar coordinates of each induction unit relative to the pole are different.
3. The method for correcting the positioning deviation of the medical shelter mobile platform according to claim 2,
the induction unit is six groups, and in the process of detecting the induction mark by the induction unit, the induction unit detects the induction mark simultaneously and the induction unit detects the induction mark sequentially, and in the two detection modes, the rotating center of the mobile platform and the induction unit have three position relations:
the first position relation is that the rotating center of the mobile platform is positioned between the two groups of sensing units and is positioned on the same straight line;
the rotating centers of the moving platforms are positioned on one sides of the two groups of sensing units and are positioned on the same straight line;
and the rotating center of the moving platform is perpendicular to the connecting lines of the two groups of sensing units respectively.
4. The method for correcting the positioning deviation of the medical shelter mobile platform according to claim 1,
the coordinates of two groups of induction marks respectively detected by two groups of induction units are respectively defined as (x) 1 ，y 1 ) And (x) 2 ，y 2 ) The real-time position coordinate of the rotating center of the mobile platform is (x, y),
when the sensing unit detects the sensing mark at the same time:
the real-time position coordinate of the rotating center of the mobile platform corresponding to the position relation I is calculated by the following formula:
and calculating the real-time position coordinates of the rotating center of the mobile platform corresponding to the position relation II through the following formula:
and calculating the real-time position coordinates of the rotating center of the mobile platform corresponding to the position relation III through the following formula:
(x 1 -x) 2 +(y 1 -y) 2 ＝r 1 2 (5)，
(x 2 -x) 2 +(y 2 -y) 2 ＝r 2 2 (6)，
when the sensing unit detects the sensing identification in sequence:
the real-time position coordinates of the rotating center of the mobile platform corresponding to the three position relations are calculated by a formula (5) and a formula (6),
wherein r is 1 And r 2 The two groups of induction units respectively have the rotation radius relative to the rotation center of the mobile platform.
5. The method according to claim 4,
and establishing a position vector between the position coordinate of the rotating center of the mobile platform and the position coordinate when the two groups of sensing units detect the sensing identification, and judging the unique position coordinate value of the rotating center of the mobile platform by comparing the position relation between the two position vectors.
6. The method according to claim 4,
preferably, the induction marks detected by the two groups of induction units with the largest rotation radius are selected.
7. The medical shelter moving platform positioning deviation rectifying method according to claim 4,
after the mobile platform rotates and detects the second group of induction marks, the real-time azimuth angle alpha of the mobile platform is calculated by the following formula,
the real-time azimuth angle alpha of the mobile platform calculated by the formula (7) is only a numerical value, and the specific azimuth of the mobile platform still needs to be determined by determining the quadrant position of the real-time azimuth angle alpha in a local coordinate system established by taking the rotation center of the mobile platform as an origin,
and comparing the alpha with the target attitude angle of the mobile platform to obtain the angle difference of the mobile platform needing to correct the deflection, and controlling the rotation angle difference of the mobile platform to be adjusted to the target attitude angle.
8. The method according to claim 7,
checking the accuracy of the real-time position coordinates (x, y) of the rotation center of the mobile platform through a formula (7), a formula (8), a formula (9) and a formula (10),
when the sensing unit detects the sensing marks at the same time:
the relationship between the azimuth angle corresponding to the first position relationship and the second position relationship and the rotation angle of the mobile platform is shown as a formula (9):
γ+θ＝α (9)，
the relationship between the azimuth angle corresponding to the position relationship III and the rotation angle of the mobile platform is shown in the formula (10):
wherein gamma is the real-time azimuth angle of the mobile platform when the mobile platform detects the first group of induction marks, and theta is the rotation angle between the two groups of induction marks detected by the rotation of the mobile platform and can be measured by an angle sensor of the mobile platform;
when the sensing unit detects the sensing identification in sequence:
the relation between the azimuth angle corresponding to the three position relations and the rotation angle of the mobile platform is the same as that when the sensing unit simultaneously detects the sensing mark.
9. The method according to claim 8,
if the error obtained by calculation is within 3 degrees, controlling the mobile platform to perform deviation rectification movement and rotation according to the calculation result;
and if the calculated error exceeds 3 degrees, controlling the mobile platform to continuously rotate and detect two groups of new induction units for calculation until the error is within 3 degrees after checking calculation.
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